#

vincentlu

9 天以前 7ac5a3f2bcbb0d0e13dc87cd969c8fb1fd99b488

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

@@ -2,6 +2,7 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
@@ -245,20 +246,232 @@
                return;
            }

            List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
            for (Task task : taskList) {
                Agv agv = allocateService.execute(task);
                if (null == agv) {
//                    log.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
                    continue;
                }
                task.setAgvId(agv.getId());
                task.setTaskSts(TaskStsType.WAITING.val());
                task.setIoTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                }
//            List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
            for (Task t : taskList) {
                String resultAgvNo = allocateService.execute(t
                        // inbound
                        , (task, agvNo, sta) -> {
                            Long agvId = agvService.getAgvId(agvNo);

//                            List<Travel> travelList = travelService.list(new LambdaQueryWrapper<Travel>()
//                                    .eq(Travel::getAgvId, agvId)
//                                    .eq(Travel::getState, TravelStateType.RUNNING.toString())
//                                    .orderByDesc(Travel::getCreateTime));
//                            if (Cools.isEmpty(travelList)) {
//                                throw new BusinessException("[Agv: " + agvNo + "]allocate inbound failed to find travel");
//                            }
//                            Travel travel = travelList.get(0);
//
//                            List<Segment> currSegments = segmentService.list(new LambdaQueryWrapper<Segment>()
//                                    .eq(Segment::getAgvId, agvId)
//                                    .eq(Segment::getTravelId, travel.getId())
//                            );
                            // load segment
                            Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
                            if (null == currSeg) {
                                throw new BusinessException("[Agv:" + agvNo + "] allocate inbound failed: no roller waiting segment");
                            }

                            // get backpack lev
                            int backpackLev = 0;
                            int backpack = agvService.getBackpack(agvId);
                            List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
                            if (usedBackpacks.size() >= backpack) {
                                throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
                            }
                            for (int lev = 1; lev <= backpack; lev++) {
                                if (!usedBackpacks.contains(lev)) {
                                    backpackLev = lev;
                                    break;
                                }
                            }
                            if (backpackLev == 0) {
                                throw new BusinessException("[Agv:" + agvNo + "] backpack full, can't allocate inbound");
                            }

                            // update curr seg
                            currSeg.setState(SegmentStateType.INIT.toString());
                            currSeg.setUpdateTime(now);
                            if (!segmentService.updateById(currSeg)) {
//                                log.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
                                throw new CoolException("failed to update segment [" + currSeg.getGroupId() + "-" + currSeg.getSerial() + "] failed");
                            }

                            // new oriSta seg
                            Segment loadSeg = new Segment();
                            loadSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
                            loadSeg.setTravelId(currSeg.getTravelId());
                            loadSeg.setAgvId(agvId);
                            loadSeg.setTaskId(task.getId());
                            loadSeg.setSerial(currSeg.getSerial() - 1);
                            loadSeg.setEndNode(sta.getCode());
                            loadSeg.setPosType(TaskPosDto.PosType.ORI_STA.toString());
                            loadSeg.setState(SegmentStateType.WAITING.toString());
                            loadSeg.setBackpack(backpackLev);
                            loadSeg.setCreateTime(now);
                            loadSeg.setUpdateTime(now);
                            if (!segmentService.save(loadSeg)) {
//                                log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
                                throw new CoolException("failed to save segment [" + loadSeg.getGroupId() + "-" + loadSeg.getSerial() + "] failed");
                            }

                            // place segment
                            TaskTypeType taskType = Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()));
                            TaskPosDto.PosType posType;
                            Code endCode;
                            switch (taskType) {
                                case STA_TO_LOC:
                                    posType = TaskPosDto.PosType.DEST_LOC;
                                    Loc destLoc = locService.getById(task.getDestLoc());
                                    endCode = codeService.getCacheById(destLoc.getCode());
                                    break;
                                case STA_TO_STA:
                                    posType = TaskPosDto.PosType.DEST_STA;
                                    Sta destSta = staService.getById(task.getDestSta());
                                    endCode = codeService.getCacheById(destSta.getCode());
                                    break;
                                default:
                                    throw new BusinessException("[Agv:" + agvNo + "] allocate inbound only supports STA_TO_LOC/STA_TO_STA");
                            }

                            // calc placeSeg serial, through code position
                            List<Segment> destSegList = segmentService.list(new LambdaQueryWrapper<Segment>()
                                    .eq(Segment::getAgvId, agvId)
                                    .eq(Segment::getTravelId, currSeg.getTravelId())
                                    .ne(Segment::getState, SegmentStateType.FINISH.toString())
                                    .in(Segment::getPosType,
                                            TaskPosDto.PosType.DEST_LOC.toString(),
                                            TaskPosDto.PosType.DEST_STA.toString())
                                    .orderByAsc(Segment::getSerial)
                            );

                            // build destPosList and sort
                            List<TaskPosDto> destPosList = new ArrayList<>();
                            for (Segment destSeg : destSegList) {
                                Code code = codeService.getCacheById(destSeg.getEndNode());
                                if (code == null) continue;

                                TaskPosDto dto = new TaskPosDto(destSeg.getTaskId(), new Double[]{code.getX(), code.getY()}, TaskPosDto.PosType.DEST_LOC);
                                dto.setCodeId(code.getId());
                                dto.setSegId(destSeg.getId());
                                destPosList.add(dto);
                            }
                            TaskPosDto newDto = new TaskPosDto(task.getId(), new Double[]{endCode.getX(), endCode.getY()}, TaskPosDto.PosType.DEST_LOC);
                            newDto.setCodeId(endCode.getId());
                            destPosList.add(newDto);

                            // sort - reference to buildMarjoTask
                            final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

                            // DEST-only sort
                            destPosList.sort((a, b) -> {

                                // 主轴
                                double aFirst = a.getFirstWeight(sameGroupXy);
                                double bFirst = b.getFirstWeight(sameGroupXy);
                                int c = Double.compare(aFirst, bFirst);
                                if (c != 0) return c;

                                // 副轴
                                double aSecond = a.getSecondWeight(sameGroupXy);
                                double bSecond = b.getSecondWeight(sameGroupXy);
                                c = Double.compare(aSecond, bSecond);
                                if (c != 0) return c;

                                return Long.compare(a.getTaskId(), b.getTaskId());
                            });

                            // get placeSeg serial
                            int placeSegSerial;
                            // query placeSeg idx
                            int idx = -1;
                            for (int i = 0; i < destPosList.size(); i++) {
                                if (Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())
                                        && Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())) {
                                    idx = i;
                                    break;
                                }
                            }
                            if (idx < 0) {
                                throw new BusinessException("failed to locate new destination in sorted list");
                            }

                            // 后继点
                            if (idx + 1 == destPosList.size()) {
                                placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
                            } else {
                                TaskPosDto afterTaskPos = destPosList.get(idx + 1);
                                Segment afterSeg = destSegList.stream()
                                        .filter(destSeg -> Objects.equals(destSeg.getId(), afterTaskPos.getSegId()))
                                        .findFirst()
                                        .orElse(null);
                                if (null == afterSeg) {
                                    placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
                                } else {
                                    placeSegSerial = afterSeg.getSerial();
                                }
                            }
//                            placeSegSerial = Math.max(placeSegSerial, currSeg.getSerial() + 1);

                            // shift serial after
                            segmentService.update(new LambdaUpdateWrapper<Segment>()
                                    .eq(Segment::getAgvId, agvId)
                                    .eq(Segment::getTravelId, currSeg.getTravelId())
                                    .ge(Segment::getSerial, placeSegSerial)
                                    .ne(Segment::getState, SegmentStateType.FINISH.toString())
                                    .setSql("serial = serial + 1")
                                    .set(Segment::getUpdateTime, now)
                            );

                            // save place segment
                            Segment placeSeg = new Segment();
                            placeSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
                            placeSeg.setTravelId(currSeg.getTravelId());
                            placeSeg.setAgvId(agvId);
                            placeSeg.setTaskId(task.getId());
                            placeSeg.setSerial(placeSegSerial);
                            placeSeg.setEndNode(endCode.getId());
                            placeSeg.setPosType(posType.toString());
                            placeSeg.setState(SegmentStateType.INIT.toString());
                            placeSeg.setBackpack(backpackLev);
                            placeSeg.setCreateTime(now);
                            placeSeg.setUpdateTime(now);
                            if (!segmentService.save(placeSeg)) {
//                                log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
                                throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
                            }

                            // update task
                            task.setAgvId(agvId);
                            task.setTaskSts(TaskStsType.ASSIGN.val());
                            task.setIoTime(now);
                            task.setUpdateTime(now);
                            if (!taskService.updateById(task)) {
                                throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                            }
                        }
                        // normal
                        , (task, agvNo, sta) -> {
                            Long agvId = agvService.getAgvId(agvNo);
                            task.setAgvId(agvId);
                            task.setTaskSts(TaskStsType.WAITING.val());
                            task.setIoTime(now);
                            task.setUpdateTime(now);
                            if (!taskService.updateById(task)) {
                                throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                            }
                        });
//                if (Cools.isEmpty(agvNo)) {
////                    log.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
//                    continue;
//                }
//                task.setAgvId(agvService.getAgvId(agvNo));
//                task.setTaskSts(TaskStsType.WAITING.val());
//                task.setIoTime(now);
//                task.setUpdateTime(now);
//                if (!taskService.updateById(task)) {
//                    throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
//                }
            }
        } catch (Exception e) {
            log.error("mainService.infuseAgvForTask", e);
@@ -296,7 +509,7 @@
                    return o2.getPriority() - o1.getPriority();
                }
            });
            Integer backpack = agvService.getBackpack(agv);
            Integer backpack = agvService.getBackpack(agvId);
            if (taskList.size() > backpack) {
                taskList = taskList.subList(0, backpack);
            }
@@ -312,7 +525,7 @@
             * val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
             */
            Map<String, List<TaskPosDto>> groups = new HashMap<>();
            final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
            final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

            int backpackLev = 0;
            for (Task task : taskList) {
@@ -461,6 +674,8 @@
            travel.setTaskContent(JSON.toJSONString(list));
            travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList())));
            travel.setState(TravelStateType.RUNNING.toString());
            travel.setCreateTime(now);
            travel.setUpdateTime(now);
            if (!travelService.save(travel)) {
                throw new BusinessException("任务组保存失败");
            }
@@ -484,6 +699,8 @@
                    segment.setPosType(taskPosDto.getPosType().toString());
                    segment.setBackpack(backpackType.lev);
                    segment.setState(SegmentStateType.INIT.toString());
                    segment.setCreateTime(now);
                    segment.setUpdateTime(now);
                    segmentList.add(segment);
                }
            }
@@ -1166,6 +1383,38 @@
            List<Action> newActionList = actionSorter.optimizeSort(actionList);
            String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);

            // update segment
            for (Segment item : segmentList) {
                LambdaUpdateWrapper<Segment> uw = new LambdaUpdateWrapper<Segment>()
                        .eq(Segment::getId, item.getId())
                        .eq(Segment::getState, item.getState())
                        .set(Segment::getGroupId, groupId)
                        .set(Segment::getState, SegmentStateType.RUNNING.toString())
                        .set(Segment::getStartTime, now)
                        .set(Segment::getUpdateTime, now);
                if (algoStartTime != null) {
                    uw.set(Segment::getAlgoTime, (int) (now.getTime() - algoStartTime.getTime()));
                }
                if (!segmentService.update(uw)) {
                    // segment 原子性保证
                    throw new CoolException("更新Segment失败: segmentId=" + item.getId() + " state not WAITING");
                }
            }

            // update segment
//            for (Segment item : segmentList) {
//                item.setGroupId(groupId);
//                item.setState(SegmentStateType.RUNNING.toString());
//                item.setStartTime(now);
//                item.setUpdateTime(now);
//                if (null != algoStartTime) {
//                    item.setAlgoTime((int) (now.getTime() - algoStartTime.getTime()));
//                }
//                if (!segmentService.updateById(item)) {
//                    throw new CoolException("更新Segment失败");
//                }
//            }

            // save action
            int i = newActionList.size();
            for (Action action : newActionList) {
@@ -1176,20 +1425,6 @@
            }
            if (!actionService.saveBatch(newActionList)) {
                throw new BusinessException("group[" + groupId + "] 动作保存失败");
            }

            // update segment
            for (Segment item : segmentList) {
                item.setGroupId(groupId);
                item.setState(SegmentStateType.RUNNING.toString());
                item.setStartTime(now);
                item.setUpdateTime(now);
                if (null != algoStartTime) {
                    item.setAlgoTime((int) (now.getTime() - algoStartTime.getTime()));
                }
                if (!segmentService.updateById(item)) {
                    throw new CoolException("更新Segment失败");
                }
            }

            log.info("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size());
@@ -1517,9 +1752,9 @@
                                    break;
                                }
                                // convey plc valid
                                if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT)) {
                                if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.IN)) {
                                    // reserve rollback
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                success = true;
@@ -1590,8 +1825,6 @@
            }

            if (taskComplete) {
//                locService.taskCallBack(task);

                task.setTaskSts(TaskStsType.COMPLETE.val());
                task.setEndTime(now);
                task.setUpdateTime(now);