rcs-flow.git - Gitblit

			@@ -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;
			@@ -245,19 +246,202 @@
			return;
			}

			List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
			// List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
			for (Task t : taskList) {
			String resultAgvNo = allocateService.execute(t
			// inbound
			, (task, agvNo) -> {
			, (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);

			destPosList.sort((a, b) -> {
			int c1 = Double.compare(a.getXy()[0], b.getXy()[0]); // X
			if (c1 != 0) return c1;
			int c2 = Double.compare(a.getXy()[1], b.getXy()[1]); // Y
			if (c2 != 0) return c2;
			// 同坐标时用 taskId 打散（避免排序不稳定）
			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) -> {
			if (Cools.isEmpty(agvNo)) {
			return;
			}
			task.setAgvId(agvService.getAgvId(agvNo));
			, (task, agvNo, sta) -> {
			Long agvId = agvService.getAgvId(agvNo);
			task.setAgvId(agvId);
			task.setTaskSts(TaskStsType.WAITING.val());
			task.setIoTime(now);
			task.setUpdateTime(now);
			@@ -478,6 +662,8 @@
			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");
			}
			@@ -501,6 +687,8 @@
			segment.setPosType(taskPosDto.getPosType().toString());
			segment.setBackpack(backpackType.lev);
			segment.setState(SegmentStateType.INIT.toString());
			segment.setCreateTime(now);
			segment.setUpdateTime(now);
			segmentList.add(segment);
			}
			}
			@@ -1183,6 +1371,38 @@
			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) {
			@@ -1193,20 +1413,6 @@
			}
			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());