#

vincentlu

9 天以前 7ac5a3f2bcbb0d0e13dc87cd969c8fb1fd99b488

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -13,6 +13,7 @@
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -72,6 +73,8 @@
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private PatrolService patrolService;
    @Autowired
    private StaReserveService staReserveService;

    @PreAuthorize("hasAuthority('manager:agv:update')")
    @OperationLog("Locate All Agv")
@@ -87,10 +90,27 @@
    @PostMapping("/patrol/batch/startup")
    public synchronized R patrolBatchStartup() {
        List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(MapDataDispatcher.MAP_DEFAULT_LEV);
        int result = 0;
        for (Agv agv : list) {
            patrolService.startupPatrol(agv.getUuid());
            result++;
            String agvNo = agv.getUuid();

            boolean inMap = false;
            label: for (int i = 0; i < dynamicMatrix.length; i++) {
                for (int j = 0; j < dynamicMatrix[i].length; j++) {
                    DynamicNode dynamicNode = dynamicMatrix[i][j];
                    String vehicle = dynamicNode.getVehicle();
                    if (agvNo.equals(vehicle)) {
                        inMap = true;
                        break label;
                    }
                }
            }

            if (inMap) {
                patrolService.startupPatrol(agvNo);
                result++;
            }
        }
        return R.ok().add(result);
    }
@@ -131,12 +151,28 @@
                    .eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                            .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                })) > 0) {
            log.info(agv.getUuid() + "号AGV不可用，已经存在进行中的任务...");
            log.info("{}号AGV不可用，已经存在进行中的任务...", agv.getUuid());
            return R.error();
        }
        if (!agvService.judgeEnable(agv.getId())) {
            log.info(agv.getUuid() + "号AGV不可用，任务无法计算...");
            log.info("{}号AGV不可用，任务无法计算...", agv.getUuid());
            return R.error();
        }

        Task task = new Task();
        task.setAgvId(agv.getId());
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
        List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
        task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));

        task.setTaskType(param.getTaskMode().val());
        task.setTaskSts(TaskStsType.WAITING.val());

        task.setPriority(999);
        task.setIoTime(now);
        task.setStartTime(now);
        if (!taskService.save(task)) {
            throw new BusinessException(task.getSeqNum() + "任务保存失败");
        }

        // generate
@@ -144,7 +180,6 @@
        Loc destLoc = null;
        Sta oriSta = null;
        Sta destSta = null;
        Task task = null;
        switch (param.getTaskMode()) {
            case MOVE:
                Code endCode = null;
@@ -173,7 +208,7 @@
                    oriLoc = locService.getById(param.getStartLocNo());
                }
                if (!Cools.isEmpty(param.getStartLocNoStr())) {
                    oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
                    oriLoc = locService.selectByLocNo(param.getStartLocNoStr());
                }
                if (null == oriLoc) {
                    return R.error();
@@ -192,7 +227,7 @@
                    destLoc = locService.getById(param.getEndLocNo());
                }
                if (!Cools.isEmpty(param.getEndLocNoStr())) {
                    destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
                    destLoc = locService.selectByLocNo(param.getEndLocNoStr());
                }
                if (null == destLoc) {
                    return R.error();
@@ -207,8 +242,6 @@
                }

                // task
                task = new Task();

                task.setOriLoc(oriLoc.getId());
                task.setOriCode(oriLoc.getCode());
                task.setDestLoc(destLoc.getId());
@@ -220,7 +253,7 @@
                    oriLoc = locService.getById(param.getStartLocNo());
                }
                if (!Cools.isEmpty(param.getStartLocNoStr())) {
                    oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
                    oriLoc = locService.selectByLocNo(param.getStartLocNoStr());
                }
                if (null == oriLoc) {
                    return R.error();
@@ -244,18 +277,11 @@
                if (null == destSta) {
                    return R.error();
                }
                if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 不是无货状态");
                }
                destSta.setStaSts(StaStsType.READY_RELEASE.val());
                destSta.setUpdateTime(now);
                if (!staService.updateById(destSta)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 修改站点状态失败");
                if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 预约失败");
                }

                // task
                task = new Task();

                task.setOriLoc(oriLoc.getId());
                task.setOriCode(oriLoc.getCode());
                task.setDestSta(destSta.getId());
@@ -272,13 +298,8 @@
                if (null == oriSta) {
                    return R.error();
                }
                if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 不是有货状态");
                }
                oriSta.setStaSts(StaStsType.READY_TAKE.val());
                oriSta.setUpdateTime(now);
                if (!staService.updateById(oriSta)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 修改站点状态失败");
                if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 预约失败");
                }

                // destLoc
@@ -286,7 +307,7 @@
                    destLoc = locService.getById(param.getEndLocNo());
                }
                if (!Cools.isEmpty(param.getEndLocNoStr())) {
                    destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
                    destLoc = locService.selectByLocNo(param.getEndLocNoStr());
                }
                if (null == destLoc) {
                    return R.error();
@@ -301,8 +322,6 @@
                }

                // task
                task = new Task();

                task.setOriSta(oriSta.getId());
                task.setOriCode(oriSta.getCode());
                task.setDestLoc(destLoc.getId());
@@ -319,13 +338,8 @@
                if (null == oriSta) {
                    return R.error();
                }
                if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 不是有货状态");
                }
                oriSta.setStaSts(StaStsType.READY_TAKE.val());
                oriSta.setUpdateTime(now);
                if (!staService.updateById(oriSta)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 修改站点状态失败");
                if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 预约失败");
                }

                // destSta
@@ -338,18 +352,11 @@
                if (null == destSta) {
                    return R.error();
                }
                if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 不是无货状态");
                }
                destSta.setStaSts(StaStsType.READY_RELEASE.val());
                destSta.setUpdateTime(now);
                if (!staService.updateById(destSta)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 修改站点状态失败");
                if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 预约失败");
                }

                // task
                task = new Task();

                task.setOriSta(oriSta.getId());
                task.setOriCode(oriSta.getCode());
                task.setDestSta(destSta.getId());
@@ -359,23 +366,9 @@
                break;
        }

        if (null != task) {
            task.setAgvId(agv.getId());
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
            task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));

            task.setTaskType(param.getTaskMode().val());
            task.setTaskSts(TaskStsType.WAITING.val());

            task.setPriority(999);
            task.setIoTime(now);
            task.setStartTime(now);
            if (!taskService.save(task)) {
                throw new BusinessException(task.getSeqNum() + "任务保存失败");
            }
        if (!taskService.updateById(task)) {
            throw new BusinessException("任务更新失败");
        }

        return R.ok();
    }