#

vincentlu

9 天以前 a71d7a7a4b437a718e68ec41dcecd30ee7ff55e7

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

@@ -2,19 +2,20 @@

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;
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.domain.BaseResult;
import com.zy.acs.common.domain.protocol.AGV_11_UP;
import com.zy.acs.common.domain.protocol.AGV_70_UP;
import com.zy.acs.common.domain.protocol.IMessageBody;
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.AgvBackpackType;
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.AgvSpeedType;
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.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -49,6 +50,8 @@
@Slf4j
@Service("mainService")
public class MainService {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private BusService busService;
@@ -98,6 +101,8 @@
    private ActionSorter actionSorter;
    @Autowired
    private StaReserveService staReserveService;
    @Autowired
    private ConveyorStationService conveyorStationService;

    @SuppressWarnings("all")
    @Transactional
@@ -177,29 +182,15 @@
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
                    }

                    // reserver station inbound, qty: 1
                    destSta = staService.getById(task.getDestSta());
                    if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to reserve");
                    }
//                    if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
//                        throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
//                    }
//                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
//                    destSta.setUpdateTime(now);
//                    if (!staService.updateById(destSta)) {
//                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update");
//                    }
                    break;
                case STA_TO_LOC:
                    oriSta = staService.getById(task.getOriSta());
                    if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
                    if (!staService.updateById(oriSta)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update");
                    if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to reserve");
                    }

                    destLoc = locService.getById(task.getDestLoc());
@@ -214,23 +205,13 @@
                    break;
                case STA_TO_STA:
                    oriSta = staService.getById(task.getOriSta());
                    if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
                    if (!staService.updateById(oriSta)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update");
                    if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to reserve");
                    }

                    destSta = staService.getById(task.getDestSta());
                    if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
                    destSta.setUpdateTime(now);
                    if (!staService.updateById(destSta)) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update");
                    if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to reserve");
                    }
                    break;
                default:
@@ -265,20 +246,220 @@
                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);

                            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, 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);
@@ -316,7 +497,7 @@
                    return o2.getPriority() - o1.getPriority();
                }
            });
            Integer backpack = agvService.getBackpack(agv);
            Integer backpack = agvService.getBackpack(agvId);
            if (taskList.size() > backpack) {
                taskList = taskList.subList(0, backpack);
            }
@@ -481,6 +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");
            }
@@ -504,6 +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);
                }
            }
@@ -1186,6 +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) {
@@ -1196,20 +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());
@@ -1483,6 +1686,86 @@
            }
        }

        // 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));

            boolean success = false;

            try {
                Code code = codeService.getCacheByData(agv_06_up.getQrCode());

                // query current segment
                Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
                if (null == currSeg) {
                    log.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());
                    } else {

                        Sta sta;
                        TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
                        assert null != posType;
                        switch (posType) {
                            case ORI_LOC:
                            case DEST_LOC:
                                success = true;
                                break;
                            case ORI_STA:
                                // load from sta
                                sta = staService.getById(currTask.getOriSta());
                                // reserve to be waiting
                                if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
                                    break;
                                }
                                // convey plc valid
                                if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT)) {
                                    // reserve rollback
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                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)) {
                                    break;
                                }
                                // convey plc valid
                                if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.IN)) {
                                    // reserve rollback
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                success = true;
                                break;
                            default:
                                log.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);
            }

            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);

            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }

        // 料仓信息包
        if (msgBody instanceof AGV_70_UP) {
            AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;
@@ -1530,14 +1813,13 @@
            }

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

                task.setTaskSts(TaskStsType.COMPLETE.val());
                task.setEndTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    log.error("Task [{}] 更新失败 ！！！", task.getSeqNum());
                } else {
                    taskService.maintainLocAndSta(task);
                    log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum());
                }