rcs-flow.git - Gitblit

			@@ -10,10 +10,7 @@
			import com.zy.acs.common.domain.BaseResult;
			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.enums.*;
			import com.zy.acs.common.utils.GsonUtils;
			import com.zy.acs.common.utils.RedisSupport;
			import com.zy.acs.common.utils.Utils;
			@@ -26,6 +23,7 @@
			import com.zy.acs.manager.core.domain.AgvBackpackDto;
			import com.zy.acs.manager.core.domain.Lane;
			import com.zy.acs.manager.core.domain.TaskPosDto;
			import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
			import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
			import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
			import com.zy.acs.manager.manager.entity.*;
			@@ -96,7 +94,7 @@
			@Autowired
			private AgvModelService agvModelService;
			@Autowired
			private LaneService laneService;
			private LaneBuilder laneBuilder;
			@Autowired
			private ActionSorter actionSorter;
			@Autowired
			@@ -276,6 +274,9 @@
			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 +291,8 @@
			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 +309,134 @@
			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);

			// sort - reference to buildMarjoTask
			final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

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

			// 主轴
			double aFirst = a.getFirstWeight(sameGroupXy);
			double bFirst = b.getFirstWeight(sameGroupXy);
			int c = Double.compare(aFirst, bFirst);
			if (c != 0) return c;

			// 副轴
			double aSecond = a.getSecondWeight(sameGroupXy);
			double bSecond = b.getSecondWeight(sameGroupXy);
			c = Double.compare(aSecond, bSecond);
			if (c != 0) return c;

			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
			@@ -353,10 +447,13 @@
			if (!taskService.updateById(task)) {
			throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
			}
			// update reserve
			staReserveService.allocateCallBack(task, agvId);
			}
			// normal
			, (task, agvNo, sta) -> {
			Long agvId = agvService.getAgvId(agvNo);
			// update task
			task.setAgvId(agvId);
			task.setTaskSts(TaskStsType.WAITING.val());
			task.setIoTime(now);
			@@ -364,6 +461,8 @@
			if (!taskService.updateById(task)) {
			throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
			}
			// update reserve
			staReserveService.allocateCallBack(task, agvId);
			});
			// if (Cools.isEmpty(agvNo)) {
			//// log.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
			@@ -429,7 +528,7 @@
			* val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
			*/
			Map<String, List<TaskPosDto>> groups = new HashMap<>();
			final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
			final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

			int backpackLev = 0;
			for (Task task : taskList) {
			@@ -571,6 +670,7 @@


			// generate travel
			travelService.finishAll(agvId);
			Travel travel = new Travel();
			travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
			travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
			@@ -692,7 +792,7 @@
			task.setOriCode(agvDetail.getCode());
			task.setDestCode(endCode.getId());
			// lane
			Lane destLane = laneService.search(endCode.getData());
			Lane destLane = laneBuilder.search(endCode.getData());
			if (null != destLane) {
			task.setDestLaneHash(destLane.getHashCode());
			}
			@@ -706,6 +806,7 @@
			}

			// generate travel
			travelService.finishAll(agvId);
			Travel travel = new Travel();
			travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
			travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
			@@ -806,6 +907,8 @@

			AgvModel agvModel = agvModelService.getByAgvId(agvId);
			Double workDirection = agvModel.getWorkDirection();
			boolean backupAction = null != agvModel.getBackupAction() && agvModel.getBackupActionBool();
			boolean needUndocking = null != agvModel.getNeedUndocking() && agvModel.getNeedUndockingBool();
			AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
			assert agvSpeedType != null;

			@@ -854,7 +957,7 @@
			if (!lastCode.getCornerBool()) {
			// 如果是作业方向，但是小车在巷道内方向错误，则停止
			if (reverse && !lastDirection.equals(nextDirection)) {
			// throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
			throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
			}
			// 如果不是作业方向，判断是否相反方向，如果反方向则倒退行走
			if (nextDirection.equals((lastDirection + 180) % 360)) {
			@@ -876,7 +979,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			(double) mapService.spinDirection(lastCode).val, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(nextDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -900,7 +1003,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			(double) mapService.spinDirection(lastCode).val, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(nextDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -951,7 +1054,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			(double) mapService.spinDirection(lastCode).val, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(workDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -996,22 +1099,24 @@
			agvId, // AGV
			now // 工作时间
			));
			// 暂存点放货
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			// 背篓放货
			if (backupAction) {
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			}
			break;
			case DEST_LOC:
			assert backpackType != null;
			@@ -1019,22 +1124,24 @@
			if (!lastDirection.equals(workDirection)) {
			throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
			}
			// 暂存点取货货
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			// 背篓取货
			if (backupAction) {
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			}

			// 货架放货
			Loc destLoc = locService.getById(task.getDestLoc());
			@@ -1073,7 +1180,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			(double) mapService.spinDirection(lastCode).val, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(oriStaWorkDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -1100,23 +1207,25 @@
			agvId, // AGV
			now // 工作时间
			));
			// 暂存点放货
			assert backpackType != null;
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			// 背篓放货
			if (backupAction) {
			assert backpackType != null;
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			}
			break;
			case DEST_STA:
			// 站点放货
			@@ -1135,7 +1244,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			(double) mapService.spinDirection(lastCode).val, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(destStaWorkDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -1145,23 +1254,25 @@
			));
			lastDirection = destStaWorkDirection;
			}
			// 暂存点取货
			assert backpackType != null;
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			// 背篓取货
			if (backupAction) {
			assert backpackType != null;
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			}
			// 计算货叉工作方向
			staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
			actionList.add(new Action(
			@@ -1192,7 +1303,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			(double) mapService.spinDirection(lastCode).val, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(chargeDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -1267,6 +1378,27 @@

			}

			// 如果充电中，则先断开充电
			if (needUndocking && agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
			String undockingCode = Cools.isEmpty(actionList) ? lastCode.getData() : actionList.get(0).getCode();
			// undocking charge
			actionList.add(0, new Action(
			null, // 编号
			null, // 总线
			null, // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.UndockingCharge.desc, // 名称
			null, // 属性值
			undockingCode, // 地面码
			null, // 动作参数
			ActionTypeType.UndockingCharge.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			}

			// finish
			actionList.add(new Action(
			null, // 编号
			@@ -1284,7 +1416,6 @@
			now // 工作时间
			));

			List<Action> newActionList = actionSorter.optimizeSort(actionList);
			String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);

			// update segment
			@@ -1318,6 +1449,9 @@
			// throw new CoolException("更新Segment失败");
			// }
			// }

			// optimize action list, must have backpack
			List<Action> newActionList = backupAction ? actionSorter.optimizeSort(actionList) : actionList;

			// save action
			int i = newActionList.size();
			@@ -1478,6 +1612,11 @@
			.setQrCode(action.getCode())
			);
			break;
			case UndockingCharge:
			agvAction.add(new AgvActionItem<>(UndockingChargeAction.class)
			.setQrCode(action.getCode())
			);
			break;
			default:
			break;
			}