Merge branch 'refs/heads/rcs_master' into jdxaj

zhang

6 小时以前 70930071a49190f414c8d8bc9c9e9795a4096739

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -8,10 +8,7 @@
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
import com.zy.acs.common.utils.Base62;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.common.utils.*;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
@@ -37,6 +34,7 @@
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import com.zy.acs.common.utils.News;

import java.util.*;
import java.util.stream.Collectors;
@@ -244,7 +242,7 @@
                    bus.setBusSts(BusStsType.PROGRESS.val());
                    bus.setUpdateTime(now);
                    if (!busService.updateById(bus)) {
                        log.error("Bus [{}] failed to Update ！！！", bus.getUuid());
                        News.error("Bus [{}] failed to Update ！！！", bus.getUuid());
                    }
                }
                return;
@@ -292,7 +290,7 @@
                            currSeg.setState(SegmentStateType.INIT.toString());
                            currSeg.setUpdateTime(now);
                            if (!segmentService.updateById(currSeg)) {
//                                log.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
//                                News.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
                                throw new CoolException("failed to update segment [" + currSeg.getGroupId() + "-" + currSeg.getSerial() + "] failed");
                            }

@@ -310,7 +308,7 @@
                            loadSeg.setCreateTime(now);
                            loadSeg.setUpdateTime(now);
                            if (!segmentService.save(loadSeg)) {
//                                log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
//                                News.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
                                throw new CoolException("failed to save segment [" + loadSeg.getGroupId() + "-" + loadSeg.getSerial() + "] failed");
                            }

@@ -434,7 +432,7 @@
                            placeSeg.setCreateTime(now);
                            placeSeg.setUpdateTime(now);
                            if (!segmentService.save(placeSeg)) {
//                                log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
//                                News.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
                                throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
                            }

@@ -464,7 +462,7 @@
                            staReserveService.allocateCallBack(task, agvId);
                        });
//                if (Cools.isEmpty(agvNo)) {
////                    log.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
////                    News.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
//                    continue;
//                }
//                task.setAgvId(agvService.getAgvId(agvNo));
@@ -476,7 +474,7 @@
//                }
            }
        } catch (Exception e) {
            log.error("mainService.infuseAgvForTask", e);
            News.error("mainService.infuseAgvForTask", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }
@@ -653,7 +651,7 @@
                    dropGroups.add(group);
                } else {
                    // import tip: the list must only contain ORIGIN and DESTINATION
                    log.error("the list must only contain ORIGIN and DESTINATION");
                    News.error("the list must only contain ORIGIN and DESTINATION");
                }
            }

@@ -729,7 +727,7 @@

        } catch (Exception e) {

            log.error("mainService.buildMajorTask[task]", e);
            News.error("mainService.buildMajorTask[task]", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }
@@ -766,7 +764,7 @@
                        endCode = codeService.getCacheById(funcSta.getCode());
                    }
                    if (null == endCode) {
                        log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agvNo, taskType.toString());
                        News.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agvNo, taskType.toString());
                    }
                    break;
                case MOVE:
@@ -872,7 +870,7 @@
                    destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
                    destFuncSta.setUpdateTime(now);
                    if (!funcStaService.updateById(destFuncSta)) {
                        log.error("FuncSta [{}] failed to update ！！！", destFuncSta.getName());
                        News.error("FuncSta [{}] failed to update ！！！", destFuncSta.getName());
                    }
                    break;
                case MOVE:
@@ -883,7 +881,7 @@

            return true;
        } catch (Exception e) {
            log.error("mainService.buildMinorTask[task]", e);
            News.error("mainService.buildMinorTask[task]", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            return false;
@@ -1565,10 +1563,10 @@
                throw new BusinessException("group[" + groupId + "] 动作保存失败");
            }

            log.info("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size());
            News.info("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size());
            return pathTrace;
        } catch (Exception e) {
            log.error("mainService.generateAction", e);
            News.error("mainService.generateAction", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            if (!Cools.isEmpty(pathList)) {
@@ -1622,9 +1620,8 @@
                    task.setUpdateTime(now);
                    if (!taskService.updateById(task)) {
                        throw new BusinessException(task.getSeqNum() + "任务更新失败");
    }

}
                    }
                }
            }

            AgvAction agvAction = new AgvAction(agvNo, actionGroupId);
@@ -1743,13 +1740,13 @@

            BaseResult<?> result = agvCmdService.executeAgvActionCmd(agvAction);
            if (result.success()) {
                log.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());
                News.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());
            } else {
                log.error("任务组 [{}] 动作指令下发失败 ！！！", actionGroupId);
                News.error("任务组 [{}] 动作指令下发失败 ！！！", actionGroupId);
                throw new CoolException("任务组 [{" + actionGroupId + "}] 动作指令下发失败 ！！！");
            }
        } catch (Exception e) {
            log.error("mainService.publishAction", e);
            News.error("mainService.publishAction", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }

@@ -1761,7 +1758,7 @@

        Agv agv = agvService.selectByUuid(protocol.getAgvNo());
        if (null == agv) {
            log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
            News.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
            return;
        }

@@ -1773,7 +1770,7 @@
            AGV_11_UP agv_11_up = (AGV_11_UP) msgBody;
            String serialNo = agv_11_up.getSerialNo();

            log.info("Agv [{}] 动作完成包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up));
            News.info("Agv [{}] 动作完成包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up));

            // 入库放货
            if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) {
@@ -1781,7 +1778,7 @@

                Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
                if (null == loc) {
                    log.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
                    News.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
                } else {
                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                    for (Long taskId : taskIds) {
@@ -1799,7 +1796,7 @@
                                action.setEndTime(now);
                                action.setUpdateTime(now);
                                if (!actionService.updateById(action)) {
                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                                    News.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                                }
                            }

@@ -1814,7 +1811,7 @@

                Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
                if (null == loc) {
                    log.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
                    News.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
                } else {

                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
@@ -1832,7 +1829,7 @@
                                action.setEndTime(now);
                                action.setUpdateTime(now);
                                if (!actionService.updateById(action)) {
                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                                    News.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                                }
                            }
                        }
@@ -1854,7 +1851,7 @@
                // settlement
                this.settleSegmentList(segmentList, serialNo);

                log.info("Agv [{}] {}作业完毕 ==========>> ", protocol.getAgvNo(), serialNo);
                News.info("Agv [{}] {} 路径作业已完成", protocol.getAgvNo(), serialNo);

            }
        }
@@ -1862,7 +1859,7 @@
        // 取放货请求包
        if (msgBody instanceof AGV_06_UP) {
            AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;
            log.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));
            News.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));

            boolean success = false;

@@ -1872,14 +1869,14 @@
                // query current segment
                Segment currSeg = segmentService.getCurrRunningSeg(null, agv.getId(), code.getId());
                if (null == currSeg) {
                    log.error("failed to find curr segment [{}]", agv.getUuid());
                    News.error("failed to find curr segment [{}]", agv.getUuid());
                } else {

                    // query current task
                    Task currTask = taskService.getById(currSeg.getTaskId());
                    if (currTask == null || !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {

                        log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
                        News.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
                    } else {

                        Sta sta;
@@ -1903,7 +1900,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                log.info("AGV [{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                News.info("AGV [{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            case DEST_STA:
@@ -1919,18 +1916,18 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                log.info("AGV [{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                News.info("AGV [{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            default:
                                log.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                News.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                break;
                        }
                    }
                }

            } catch (Exception e) {
                log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
                News.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
            }

            AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
@@ -1944,7 +1941,7 @@
        if (msgBody instanceof AGV_70_UP) {
            AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;

            log.info("Agv [{}] 料仓信息包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
            News.info("Agv [{}] 料仓信息包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
        }
    }

@@ -1991,10 +1988,10 @@
                task.setEndTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    log.error("Task [{}] 更新失败 ！！！", task.getSeqNum());
                    News.error("Task [{}] 更新失败 ！！！", task.getSeqNum());
                } else {
                    taskService.maintainLocAndSta(task);
                    log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum());
                    News.info("Task [{}] 任务运行完成.", task.getSeqNum());
                }

            }
@@ -2011,7 +2008,7 @@
                action.setEndTime(now);
                action.setUpdateTime(now);
                if (!actionService.updateById(action)) {
                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                    News.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                }
            }
        }
@@ -2022,7 +2019,7 @@
            segment.setEndTime(now);
            segment.setUpdateTime(now);
            if (!segmentService.updateById(segment)) {
                log.error("Segment [{}] 更新失败 ！！！", segment.getGroupId() + " - " + segment.getSerial());
                News.error("Segment [{}] 更新失败 ！！！", segment.getGroupId() + " - " + segment.getSerial());
            }
        }

@@ -2030,4 +2027,4 @@
        segmentService.processNext(segmentList);
    }

}
}