#

luxiaotao1123

2 天以前 bd4b7199d724280cd6536dc71d4afee263031464

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

@@ -4,10 +4,7 @@
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.*;
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
@@ -26,7 +23,7 @@
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.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -107,11 +104,12 @@
    @Transactional
    public Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) {
        String errorMsg = busService.checkoutValid(busSubmitParam);
        Boolean maintainLocSts = configService.getVal("maintainLocSts", Boolean.class);
        if (!Cools.isEmpty(errorMsg)) {
            throw new BusinessException(errorMsg);
        }
        String batch = busSubmitParam.getBatch();
        List<TaskDto> taskDtoList = busSubmitParam.getTaskList();
        String batchNo = busSubmitParam.getBatchNo();
        List<TaskDto> taskDtoList = busSubmitParam.getTasks();
        if (Cools.isEmpty(taskDtoList)) {
            throw new BusinessException("taskList can't be empty!");
        }
@@ -126,7 +124,7 @@
        Date now = new Date();
        Bus bus = new Bus();
        bus.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
        bus.setBusNo(batch);
        bus.setBusNo(batchNo);
        bus.setStartTime(now);
        bus.setBusSts(BusStsType.RECEIVE.val());
        bus.setMemo(memo);
@@ -150,35 +148,39 @@
            Sta destSta = null;
            switch (TaskTypeType.get(task.getTaskTypeEl())) {
                case LOC_TO_LOC:
                    oriLoc = locService.getById(task.getOriLoc());
                    if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
                    }
                    oriLoc.setLocSts(LocStsType.PAKOUT.val());
                    oriLoc.setUpdateTime(now);
                    if (!locService.updateById(oriLoc)) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
                    }
                    if (maintainLocSts) {
                        oriLoc = locService.getById(task.getOriLoc());
                        if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                            throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
                        }
                        oriLoc.setLocSts(LocStsType.PAKOUT.val());
                        oriLoc.setUpdateTime(now);
                        if (!locService.updateById(oriLoc)) {
                            throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
                        }

                    destLoc = locService.getById(task.getDestLoc());
                    if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
                    }
                    destLoc.setLocSts(LocStsType.PAKIN.val());
                    destLoc.setUpdateTime(now);
                    if (!locService.updateById(destLoc)) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update");
                        destLoc = locService.getById(task.getDestLoc());
                        if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                            throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
                        }
                        destLoc.setLocSts(LocStsType.PAKIN.val());
                        destLoc.setUpdateTime(now);
                        if (!locService.updateById(destLoc)) {
                            throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update");
                        }
                    }
                    break;
                case LOC_TO_STA:
                    oriLoc = locService.getById(task.getOriLoc());
                    if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
                    }
                    oriLoc.setLocSts(LocStsType.PAKOUT.val());
                    oriLoc.setUpdateTime(now);
                    if (!locService.updateById(oriLoc)) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
                    if (maintainLocSts) {
                        oriLoc = locService.getById(task.getOriLoc());
                        if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                            throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
                        }
                        oriLoc.setLocSts(LocStsType.PAKOUT.val());
                        oriLoc.setUpdateTime(now);
                        if (!locService.updateById(oriLoc)) {
                            throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
                        }
                    }

                    destSta = staService.getById(task.getDestSta());
@@ -192,14 +194,16 @@
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to reserve");
                    }

                    destLoc = locService.getById(task.getDestLoc());
                    if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
                    }
                    destLoc.setLocSts(LocStsType.PAKIN.val());
                    destLoc.setUpdateTime(now);
                    if (!locService.updateById(destLoc)) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update");
                    if (maintainLocSts) {
                        destLoc = locService.getById(task.getDestLoc());
                        if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                            throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
                        }
                        destLoc.setLocSts(LocStsType.PAKIN.val());
                        destLoc.setUpdateTime(now);
                        if (!locService.updateById(destLoc)) {
                            throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update");
                        }
                    }
                    break;
                case STA_TO_STA:
@@ -259,6 +263,9 @@

                            // curr segment
                            Segment currSeg = segmentService.getCurrWaitingSeg(travel.getId(), agvId);
//                            if (null == currSeg) {
//                                currSeg = segmentService.getCurrRunningSeg(travel.getId(), agvId, null);
//                            }
                            if (null == currSeg) {
                                throw new CoolException("[Agv:" + agvNo + "] allocate inbound failed: no waiting segment");
                            }
@@ -356,7 +363,6 @@

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

                                // 主轴
                                double aFirst = a.getFirstWeight(sameGroupXy);
                                double bFirst = b.getFirstWeight(sameGroupXy);
@@ -374,11 +380,10 @@

                            // 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())) {
                                if (Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())
                                 && Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
                                    idx = i;
                                    break;
                                }
@@ -485,7 +490,7 @@
        try {
            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), false)) {
            if (!agvService.judgeEnable(agv.getId())) {
                return;
            }
            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -793,6 +798,7 @@
            task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
            task.setTaskSts(TaskStsType.ASSIGN.val());
            task.setTaskType(taskType.val());
            task.setUplinkSts(TaskUplinkStateType.SKIPPED.toString());
            task.setIoTime(now);
            task.setStartTime(now);
            if (!taskService.save(task)) {
@@ -894,6 +900,8 @@
            long actionPrepareSts = ActionStsType.PREPARE.val();
//            JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
            int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
//            Double defaultShelfDepth = configService.getVal("defaultShelfDepth", Double.class);
//            defaultShelfDepth = Optional.ofNullable(defaultShelfDepth).orElse((double) 0);
            String agvNo = agvService.getAgvNo(agvId);
//            if (!agvService.judgeEnable(agvId)) {
//                throw new CoolException("AGV[" + agvNo + "]当前不可用...");
@@ -1170,7 +1178,7 @@
                                ActionTypeType.ReadyTakeFromShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(oriLoc.getOffset()),   // 动作参数
                                JSON.toJSONString(new HeightDepthDto(oriLoc.getOffset())),   // 动作参数
                                ActionTypeType.ReadyTakeFromShelvesLoc.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
@@ -1233,7 +1241,7 @@
                                ActionTypeType.ReadyReleaseToShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(destLoc.getOffset()),   // 动作参数
                                JSON.toJSONString(new HeightDepthDto(destLoc.getOffset())),   // 动作参数
                                ActionTypeType.ReadyReleaseToShelvesLoc.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
@@ -1278,7 +1286,7 @@
                                ActionTypeType.ReadyTakeFromConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(oriSta.getOffset()),   // 动作参数
                                JSON.toJSONString(new HeightDepthDto(oriSta.getHeight(), Optional.ofNullable(oriSta.getDepth()).orElse((double) 0))),   // 动作参数
                                ActionTypeType.ReadyTakeFromConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
@@ -1361,7 +1369,7 @@
                                ActionTypeType.ReadyReleaseToConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(destSta.getOffset()),   // 动作参数
                                JSON.toJSONString(new HeightDepthDto(destSta.getHeight(), Optional.ofNullable(destSta.getDepth()).orElse((double) 0))),   // 动作参数
                                ActionTypeType.ReadyReleaseToConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
@@ -1634,14 +1642,22 @@
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyTakeFromConveyorSta:
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyTakeFromAgvSite:
@@ -1655,21 +1671,22 @@
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case LoadPlatformLift:
                        agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyReleaseToConveyorSta:
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyReleaseToAgvSite:
@@ -1677,6 +1694,13 @@
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case LoadPlatformLift:
                        agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case FinishPath:
@@ -1829,7 +1853,7 @@
                Code code = codeService.getCacheByData(agv_06_up.getQrCode());

                // query current segment
                Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
                Segment currSeg = segmentService.getCurrRunningSeg(null, agv.getId(), code.getId());
                if (null == currSeg) {
                    log.error("failed to find curr segment [{}]", agv.getUuid());
                } else {
@@ -1853,7 +1877,7 @@
                                // load from sta
                                sta = staService.getById(currTask.getOriSta());
                                // reserve to be waiting
                                if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
                                if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.OUT)) {
                                    break;
                                }
                                // convey plc valid
@@ -1862,14 +1886,14 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                log.info("AGV[{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                log.info("AGV [{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                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)) {
                                if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.IN)) {
                                    break;
                                }
                                // convey plc valid
@@ -1878,11 +1902,11 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                log.info("AGV[{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                log.info("AGV [{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            default:
                                log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                log.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                break;
                        }
                    }