rcs-flow.git - Gitblit

			@@ -276,6 +276,9 @@
			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;
			@@ -290,7 +293,8 @@
			currSeg.setState(SegmentStateType.INIT.toString());
			currSeg.setUpdateTime(now);
			if (!segmentService.updateById(currSeg)) {
			log.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
			// 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
			@@ -307,42 +311,122 @@
			loadSeg.setCreateTime(now);
			loadSeg.setUpdateTime(now);
			if (!segmentService.save(loadSeg)) {
			log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
			// 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;
			Long endCodeId;
			Code endCode;
			switch (taskType) {
			case STA_TO_LOC:
			posType = TaskPosDto.PosType.DEST_LOC;
			Loc destLoc = locService.getById(task.getDestLoc());
			endCodeId = destLoc.getCode();
			endCode = codeService.getCacheById(destLoc.getCode());
			break;
			case STA_TO_STA:
			posType = TaskPosDto.PosType.DEST_STA;
			Sta destSta = staService.getById(task.getDestSta());
			endCodeId = destSta.getCode();
			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();
			placeSeg.setEndNode(endCodeId);
			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());
			// log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
			throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
			}

			// update task