rcs-flow.git - Gitblit

			@@ -4,13 +4,11 @@
			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;
			import com.zy.acs.common.domain.AgvProtocol;
			import com.zy.acs.common.domain.BaseResult;
			import com.zy.acs.common.domain.*;
			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;
			@@ -251,33 +249,28 @@
			, (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 = travelService.findRunningTravel(agvId);
			if (null == travel) {
			throw new CoolException("[Agv:" + agvNo + "] allocate inbound failed: no roller waiting travel");
			}

			// curr segment
			Segment currSeg = segmentService.getCurrWaitingSeg(travel.getId(), agvId);
			// if (null == currSeg) {
			// currSeg = segmentService.getCurrRunningSeg(travel.getId(), agvId, null);
			// }
			// 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");
			throw new CoolException("[Agv:" + agvNo + "] allocate inbound failed: no waiting segment");
			}

			// get backpack lev
			int backpackLev = 0;
			int backpack = agvService.getBackpack(agvId);
			int backpackCap = agvService.getBackpack(agvId);
			List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
			if (usedBackpacks.size() >= backpack) {
			if (usedBackpacks.size() >= backpackCap) {
			throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
			}
			for (int lev = 1; lev <= backpack; lev++) {
			for (int lev = 1; lev <= backpackCap; lev++) {
			if (!usedBackpacks.contains(lev)) {
			backpackLev = lev;
			break;
			@@ -363,7 +356,6 @@

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

			// 主轴
			double aFirst = a.getFirstWeight(sameGroupXy);
			double bFirst = b.getFirstWeight(sameGroupXy);
			@@ -381,11 +373,10 @@

			// 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())) {
			if (Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())
			&& Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
			idx = i;
			break;
			}
			@@ -492,7 +483,7 @@
			try {
			// valid -----------------------------------------------
			Agv agv = agvService.getById(agvId);
			if (!agvService.judgeEnable(agv.getId(), false)) {
			if (!agvService.judgeEnable(agv.getId())) {
			return;
			}
			if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
			@@ -512,9 +503,9 @@
			return o2.getPriority() - o1.getPriority();
			}
			});
			Integer backpack = agvService.getBackpack(agvId);
			if (taskList.size() > backpack) {
			taskList = taskList.subList(0, backpack);
			Integer backpackCap = agvService.getBackpack(agvId);
			if (taskList.size() > backpackCap) {
			taskList = taskList.subList(0, backpackCap);
			}

			AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
			@@ -584,7 +575,7 @@

			}

			if (backpackLev > backpack) {
			if (backpackLev > backpackCap) {
			throw new BusinessException("解析Task失败,AGV背篓已满......");
			}

			@@ -788,7 +779,8 @@
			task.setAgvId(agvId);
			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.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
			task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));
			task.setOriCode(agvDetail.getCode());
			task.setDestCode(endCode.getId());
			// lane
			@@ -900,6 +892,8 @@
			long actionPrepareSts = ActionStsType.PREPARE.val();
			// JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
			int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
			// Double defaultShelfDepth = configService.getVal("defaultShelfDepth", Double.class);
			// defaultShelfDepth = Optional.ofNullable(defaultShelfDepth).orElse((double) 0);
			String agvNo = agvService.getAgvNo(agvId);
			// if (!agvService.judgeEnable(agvId)) {
			// throw new CoolException("AGV[" + agvNo + "]当前不可用...");
			@@ -993,7 +987,7 @@
			reverse = true;
			}
			nextDirection = nextLaneDir; // 防止第一个动作一定是 turn 出问题
			} else if (null != lastLaneDir) { // todo turn 环形直角
			} else if (null != lastLaneDir) { // turn 环形直角不应该存在于lane中
			final double oppLastLaneDir = (lastLaneDir + 180) % 360;

			if (!lastDirection.equals(lastLaneDir)) {
			@@ -1176,7 +1170,7 @@
			ActionTypeType.ReadyTakeFromShelvesLoc.desc, // 名称
			(double) agvDirectionType.val, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(oriLoc.getOffset()), // 动作参数
			JSON.toJSONString(new HeightDepthDto(oriLoc.getOffset())), // 动作参数
			ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			@@ -1239,7 +1233,7 @@
			ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 名称
			(double) agvDirectionType.val, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(destLoc.getOffset()), // 动作参数
			JSON.toJSONString(new HeightDepthDto(destLoc.getOffset())), // 动作参数
			ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			@@ -1284,7 +1278,7 @@
			ActionTypeType.ReadyTakeFromConveyorSta.desc, // 名称
			staWorkDirection, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(oriSta.getOffset()), // 动作参数
			JSON.toJSONString(new HeightDepthDto(oriSta.getHeight(), Optional.ofNullable(oriSta.getDepth()).orElse((double) 0))), // 动作参数
			ActionTypeType.ReadyTakeFromConveyorSta.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			@@ -1367,7 +1361,7 @@
			ActionTypeType.ReadyReleaseToConveyorSta.desc, // 名称
			staWorkDirection, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(destSta.getOffset()), // 动作参数
			JSON.toJSONString(new HeightDepthDto(destSta.getHeight(), Optional.ofNullable(destSta.getDepth()).orElse((double) 0))), // 动作参数
			ActionTypeType.ReadyReleaseToConveyorSta.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			@@ -1640,14 +1634,22 @@
			agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			.bodySync((body) -> {
			HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
			body.setHeight(heightDepthDto.getHeight());
			body.setDepth(heightDepthDto.getDepth());
			})
			);
			break;
			case ReadyTakeFromConveyorSta:
			agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			.bodySync((body) -> {
			HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
			body.setHeight(heightDepthDto.getHeight());
			body.setDepth(heightDepthDto.getDepth());
			})
			);
			break;
			case ReadyTakeFromAgvSite:
			@@ -1661,21 +1663,22 @@
			agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			);
			break;
			case LoadPlatformLift:
			agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			.bodySync((body) -> {
			HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
			body.setHeight(heightDepthDto.getHeight());
			body.setDepth(heightDepthDto.getDepth());
			})
			);
			break;
			case ReadyReleaseToConveyorSta:
			agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			.bodySync((body) -> {
			HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
			body.setHeight(heightDepthDto.getHeight());
			body.setDepth(heightDepthDto.getDepth());
			})
			);
			break;
			case ReadyReleaseToAgvSite:
			@@ -1683,6 +1686,13 @@
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
			);
			break;
			case LoadPlatformLift:
			agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			);
			break;
			case FinishPath:
			@@ -1835,7 +1845,7 @@
			Code code = codeService.getCacheByData(agv_06_up.getQrCode());

			// query current segment
			Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
			Segment currSeg = segmentService.getCurrRunningSeg(null, agv.getId(), code.getId());
			if (null == currSeg) {
			log.error("failed to find curr segment [{}]", agv.getUuid());
			} else {
			@@ -1859,7 +1869,7 @@
			// load from sta
			sta = staService.getById(currTask.getOriSta());
			// reserve to be waiting
			if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
			if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.OUT)) {
			break;
			}
			// convey plc valid
			@@ -1868,13 +1878,14 @@
			staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
			break;
			}
			log.info("AGV [{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
			success = true;
			break;
			case DEST_STA:
			// place to sta
			sta = staService.getById(currTask.getDestSta());
			// reserve to be waiting
			if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN)) {
			if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.IN)) {
			break;
			}
			// convey plc valid
			@@ -1883,10 +1894,11 @@
			staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
			break;
			}
			log.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());
			log.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
			break;
			}
			}
			@@ -1899,8 +1911,7 @@
			AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
			agv_06_down.setSerialNo(agv_06_up.getSerialNo());
			agv_06_down.setActionCode(agv_06_up.getActionCode());
			//agv_06_down.setResult(success ? 1 : 0);
			agv_06_down.setResult(1);
			agv_06_down.setResult(success ? 1 : 0);
			redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
			}