Merge branch 'refs/heads/rcs_master' into ctu_conveyor

zhang

19 小时以前 af5081bc0d0668d526a204076557a171097ddb8d

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -3,12 +3,13 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.Base62;
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.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.annotation.OperationLog;
import com.zy.acs.manager.common.config.UplinkProperties;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.*;
@@ -18,6 +19,7 @@
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
@@ -64,7 +66,7 @@
    @Autowired
    private StaService staService;
    @Autowired
    private TrafficService trafficService;
    private UplinkProperties uplinkProperties;
    @Autowired
    private ThreadPoolRegulator threadPoolRegulator;
    @Autowired
@@ -75,6 +77,10 @@
    private PatrolService patrolService;
    @Autowired
    private StaReserveService staReserveService;
    @Autowired
    private AgvAreaDispatcher agvAreaDispatcher;
    @Autowired
    private ConfigService configService;

    @PreAuthorize("hasAuthority('manager:agv:update')")
    @OperationLog("Locate All Agv")
@@ -138,6 +144,7 @@
            return R.error();
        }

        Boolean maintainLocSts = configService.getVal("maintainLocSts", Boolean.class);
        Date now = new Date();
        Agv agv = agvService.selectByUuid(param.getAgvNo());
        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
@@ -162,16 +169,17 @@
        Task task = new Task();
        task.setAgvId(agv.getId());
        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()));
//        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(Base62.encode(snowflakeIdWorker.nextId()));

        task.setTaskType(param.getTaskMode().val());
        task.setTaskSts(TaskStsType.WAITING.val());

        task.setUplinkSts(uplinkProperties.getEnabled() ? TaskUplinkStateType.PENDING.toString() : TaskUplinkStateType.SKIPPED.toString());
        task.setPriority(999);
        task.setIoTime(now);
        task.setStartTime(now);
        task.setMemo("HANDLE");
        task.setMemo("AUTO");
        if (!taskService.save(task)) {
            throw new BusinessException(task.getSeqNum() + "任务保存失败");
        }
@@ -193,12 +201,23 @@
                if (null == endCode) {
                    return R.error();
                }
                if (!agvAreaDispatcher.match(agv.getId(), endCode.getId())) {
                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + endCode.getData());
                }
                if (!taskService.removeById(task.getId())) {
                    throw new BusinessException("failed to remove task");
                }
                task = null;
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
                    return R.error();
                }
                break;
            case TO_CHARGE:
            case TO_STANDBY:
                if (!taskService.removeById(task.getId())) {
                    throw new BusinessException("failed to remove task");
                }
                task = null;
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
                    return R.error();
                }
@@ -214,13 +233,19 @@
                if (null == oriLoc) {
                    return R.error();
                }
                if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                    throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 不是在库状态");
                if (!agvAreaDispatcher.match(agv.getId(), oriLoc.getCode())) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriLoc.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达起始库位【" + oriLoc.getLocNo() + "】");
                }
                oriLoc.setLocSts(LocStsType.PAKOUT.val());
                oriLoc.setUpdateTime(now);
                if (!locService.updateById(oriLoc)) {
                    throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 修改库位状态失败");
                if (maintainLocSts) {
                    if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                        throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 不是在库状态");
                    }
                    oriLoc.setLocSts(LocStsType.PAKOUT.val());
                    oriLoc.setUpdateTime(now);
                    if (!locService.updateById(oriLoc)) {
                        throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 修改库位状态失败");
                    }
                }

                // destLoc
@@ -233,13 +258,19 @@
                if (null == destLoc) {
                    return R.error();
                }
                if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                    throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 不是空闲状态");
                if (!agvAreaDispatcher.match(agv.getId(), destLoc.getCode())) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destLoc.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达目标库位【" + destLoc.getLocNo() + "】");
                }
                destLoc.setLocSts(LocStsType.PAKIN.val());
                destLoc.setUpdateTime(now);
                if (!locService.updateById(destLoc)) {
                    throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 修改库位状态失败");
                if (maintainLocSts) {
                    if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                        throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 不是空闲状态");
                    }
                    destLoc.setLocSts(LocStsType.PAKIN.val());
                    destLoc.setUpdateTime(now);
                    if (!locService.updateById(destLoc)) {
                        throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 修改库位状态失败");
                    }
                }

                // task
@@ -259,13 +290,19 @@
                if (null == oriLoc) {
                    return R.error();
                }
                if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                    throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 不是在库状态");
                if (!agvAreaDispatcher.match(agv.getId(), oriLoc.getCode())) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriLoc.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达起始库位【" + oriLoc.getLocNo() + "】");
                }
                oriLoc.setLocSts(LocStsType.PAKOUT.val());
                oriLoc.setUpdateTime(now);
                if (!locService.updateById(oriLoc)) {
                    throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 修改库位状态失败");
                if (maintainLocSts) {
                    if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                        throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 不是在库状态");
                    }
                    oriLoc.setLocSts(LocStsType.PAKOUT.val());
                    oriLoc.setUpdateTime(now);
                    if (!locService.updateById(oriLoc)) {
                        throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 修改库位状态失败");
                    }
                }

                // destSta
@@ -278,15 +315,20 @@
                if (null == destSta) {
                    return R.error();
                }
                if (!agvAreaDispatcher.match(agv.getId(), destSta.getCode())) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destSta.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达目标站点【" + destSta.getStaNo() + "】");
                }
                if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 预约失败");
                }

                // task
                task.setOriLoc(oriLoc.getId());
                task.setOriCode(oriLoc.getCode());
                task.setDestSta(destSta.getId());
                task.setDestCode(destSta.getCode());

                staReserveService.allocateCallBack(task, agv.getId());
                break;
            case STA_TO_LOC:
                // oriSta
@@ -298,6 +340,10 @@
                }
                if (null == oriSta) {
                    return R.error();
                }
                if (!agvAreaDispatcher.match(agv.getId(), oriSta.getCode())) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriSta.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达起始站点【" + oriSta.getStaNo() + "】");
                }
                if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 预约失败");
@@ -313,13 +359,19 @@
                if (null == destLoc) {
                    return R.error();
                }
                if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                    throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 不是空闲状态");
                if (!agvAreaDispatcher.match(agv.getId(), destLoc.getCode())) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destLoc.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达目标库位【" + destLoc.getLocNo() + "】");
                }
                destLoc.setLocSts(LocStsType.PAKIN.val());
                destLoc.setUpdateTime(now);
                if (!locService.updateById(destLoc)) {
                    throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 修改库位状态失败");
                if (maintainLocSts) {
                    if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                        throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 不是空闲状态");
                    }
                    destLoc.setLocSts(LocStsType.PAKIN.val());
                    destLoc.setUpdateTime(now);
                    if (!locService.updateById(destLoc)) {
                        throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 修改库位状态失败");
                    }
                }

                // task
@@ -327,6 +379,8 @@
                task.setOriCode(oriSta.getCode());
                task.setDestLoc(destLoc.getId());
                task.setDestCode(destLoc.getCode());

                staReserveService.allocateCallBack(task, agv.getId());
                break;
            case STA_TO_STA:
                // oriSta
@@ -339,9 +393,14 @@
                if (null == oriSta) {
                    return R.error();
                }
                if (!agvAreaDispatcher.match(agv.getId(), oriSta.getCode())) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriSta.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达起始站点【" + oriSta.getStaNo() + "】");
                }
                if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 预约失败");
                }


                // destSta
                if (!Cools.isEmpty(param.getEndStaNo())) {
@@ -353,6 +412,10 @@
                if (null == destSta) {
                    return R.error();
                }
                if (!agvAreaDispatcher.match(agv.getId(), destSta.getCode())) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destSta.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达目标站点【" + destSta.getStaNo() + "】");
                }
                if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 预约失败");
                }
@@ -362,13 +425,17 @@
                task.setOriCode(oriSta.getCode());
                task.setDestSta(destSta.getId());
                task.setDestCode(destSta.getCode());

                staReserveService.allocateCallBack(task, agv.getId());
                break;
            default:
                break;
        }

        if (!taskService.updateById(task)) {
            throw new BusinessException("任务更新失败");
        if (null != task) {
            if (!taskService.updateById(task)) {
                throw new BusinessException("任务更新失败");
            }
        }
        return R.ok();
    }