#

luxiaotao1123

2024-11-26 c7ac2c8bb899b0785daaa9f72a69581bdb93fef1

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

@@ -15,15 +15,15 @@
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.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.domain.TaskDto;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.common.utils.CommonUtil;
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.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
@@ -35,12 +35,11 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.*;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.locks.ReentrantLock;
import java.util.stream.Collectors;

/**
@@ -49,10 +48,6 @@
@Slf4j
@Component("mainService")
public class MainService {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;
    private static final int LOCK_TIMEOUT = 5;
    private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);

    @Autowired
    private BusService busService;
@@ -96,6 +91,8 @@
    private TrafficService trafficService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;


    @SuppressWarnings("all")
@@ -223,7 +220,7 @@
            for (Task task : taskList) {
                Agv agv = allocateService.execute(task);
                if (null == agv) {
                    log.warn("Task[{}] has an issue， because it failed to checkout agv which is idle...", task.getSeqNum());
//                    log.warn("Task[{}] has an issue， because it failed to checkout agv which is idle...", task.getSeqNum());
                    continue;
                }
                task.setAgvId(agv.getId());
@@ -234,35 +231,6 @@
                    throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                }
            }


            // ------------------------------------------


//
//            Map<String, List<Long>> taskAllot = new HashMap<>();
//            for (Task task : taskList) {
//                Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
//                if (null == agv) {
//                    log.warn("Task[{}] has an issue， because it failed to checkout 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");
//                }
//
//                if (taskAllot.containsKey(agv.getUuid())) {
//                    taskAllot.get(agv.getUuid()).add(task.getId());
//                } else {
//                    taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
//                }
//            }
        } catch (Exception e) {
            log.error("mainService.infuseAgvForTask", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -271,23 +239,24 @@

    /**
     * 解析取放货集合任务,进行最优的排列组合顺序 ( 车辆此时是空闲且静止的 )
     * todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)}
     */
    @Transactional
    public synchronized void buildMajorTask(Long agvId, List<Task> taskList) {
        if (Cools.isEmpty(taskList)) { return; }
        boolean lockAcquired = false;
    @Transactional(propagation = Propagation.REQUIRES_NEW)
    public void buildMajorTask(Long agvId, List<Task> taskList) {
        if (Cools.isEmpty(agvId, taskList)) { return; }
        try {
            if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
            }

            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), true)) {
                throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
                return;
//                throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
            }
            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
                throw new CoolException("AGV[" + agv.getUuid() + "]分配任务失败，已存在执行任务...");
            }
            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()))
                    || !Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
                throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the segment in running...");
            }

            // execute ----------------------------------------------------
@@ -381,13 +350,19 @@
            /**
             * 1.Map<String, List<TaskPosDto>> groups
             *
             * key: 1000 + ORI_LOC
             * key: 1000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 3000 + ORI_LOC
             * key: 3000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 2000 + ORI_LOC
             * key: 2000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 1000 + DESTINATION
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 2000 + DESTINATION
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * ......
@@ -405,6 +380,8 @@
             * 对所有巷道进行有序排序，先是针对List为一个单位，对他们进行FirstWeight排序，相当于表1的key的数值进行有序排序
             *  List<TaskPosDto>: task list on the same lane
             *  ArrayList<List<TaskPosDto>>: all the task list by one agv
             *
             *  tip: ORI 和 DEST 永远不会存在同一个 List
             */
            ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
            list.sort((o1, o2) -> {
@@ -421,45 +398,32 @@
            Code currCode = codeService.getById(agvDetail.getRecentCode());
            Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};

            List<TaskPosDto> theFirstOne = list.get(0);
            List<TaskPosDto> theLastOne = list.get(list.size() - 1);
            List<List<TaskPosDto>> pickGroups = new ArrayList<>();
            List<List<TaskPosDto>> dropGroups = new ArrayList<>();

            if (list.size() == 1) {
                TaskPosDto head = theFirstOne.get(0);
                TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);

                int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
                int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());

                if (distanceByTail < distanceByHead) {
                    Collections.reverse(theFirstOne);
                }

            } else {
                TaskPosDto headOfFirst = theFirstOne.get(0);
                TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);

                TaskPosDto headOfLast = theLastOne.get(0);
                TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);

                int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
                int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());

                int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
                int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());

                if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
                    Collections.reverse(list);

                    if (distanceByTailOfLast < distanceByHeadOfLast) {
                        Collections.reverse(theLastOne);
                    }
            for (List<TaskPosDto> group : list) {
                // Assume 一个任务组中所有TaskPosDto的PosType.brief相同
                TaskPosDto.PosType posType = group.get(0).getPosType();
                if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) {
                    pickGroups.add(group);
                } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) {
                    dropGroups.add(group);
                } else {
                    if (distanceByTailOfFirst < distanceByHeadOfFirst) {
                        Collections.reverse(theFirstOne);
                    }
                    // import tip: the list must only contain ORIGIN and DESTINATION
                    log.error("the list must only contain ORIGIN and DESTINATION");
                }
            }

            currPosition = allocateService.pac(currPosition, pickGroups);
            currPosition = allocateService.pac(currPosition, dropGroups);

            List<List<TaskPosDto>> reorderedList = new ArrayList<>();
            reorderedList.addAll(pickGroups);
            reorderedList.addAll(dropGroups);

            list.clear();
            list.addAll(reorderedList);


            // generate travel
            Travel travel = new Travel();
@@ -516,33 +480,29 @@

        } catch (Exception e) {

            log.error("mainService.mergeMajorTask[task]", e);
            log.error("mainService.buildMajorTask[task]", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        } finally {

            if (lockAcquired) {
                this.lock.unlock();
            }
        }
    }


    /**
     * 充电 回待机位任务
     */
    @Transactional
    public synchronized boolean buildMinorTask(Agv agv, AgvDetail agvDetail, TaskTypeType taskType, String destination) {
    @Transactional(propagation = Propagation.REQUIRES_NEW) // although there is a Transactional here that the lock is isolated, but we can't join the caller's Transactional
    public boolean buildMinorTask(Agv agv, TaskTypeType taskType, String destination, Jam jam) {
        if (Cools.isEmpty(agv, taskType)) { return false; }
        boolean lockAcquired = false;
        try {
            if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
            }

            if (null == agvDetail) {
                agvDetail = agvDetailService.selectByAgvId(agv.getId());
            }
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (!agvService.judgeEnable(agv.getId())) {
                return false;
            }
            if (!Cools.isEmpty(taskService.selectInSts(agv.getId(), TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
                throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the task in running...");
            }
            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()))
                    || !Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
                throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the segment in running...");
            }

            Date now = new Date();
@@ -569,6 +529,9 @@
            if (null == endCode) {
                return false;
            }
            if (!allocateService.validCapacityOfLane(agv, endCode)) {
                throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agv.getUuid() + "]!!!");
            }

            Task task = new Task();
            task.setAgvId(agv.getId());
@@ -577,6 +540,11 @@
            task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
            task.setOriCode(agvDetail.getCode());
            task.setDestCode(endCode.getId());
            // lane
            Lane destLane = laneService.search(endCode.getData());
            if (null != destLane) {
                task.setDestLaneHash(destLane.getHashCode());
            }
            task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
            task.setTaskSts(TaskStsType.ASSIGN.val());
            task.setTaskType(taskType.val());
@@ -635,6 +603,10 @@
                }
                if (!segmentService.save(next)) {
                    throw new BusinessException("segment failed to save");
                } else {
                    if (null != jam && i == 0) {
                        jam.setAvoSeg(next.getId());
                    }
                }
            }

@@ -655,21 +627,12 @@
                    break;
            }

//            if (taskType.equals(TaskTypeType.TO_STANDBY)) {
//                redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid(), false);
//            }

            return true;
        } catch (Exception e) {
            log.error("mainService.buildMinorTask[task]", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            return false;
        } finally {

            if (lockAcquired) {
                this.lock.unlock();
            }
        }
    }

@@ -698,13 +661,12 @@
            List<Action> actionList = new ArrayList<>();
            // start node
            Code lastCode = codeService.getById(agvDetail.getRecentCode());
            Double lastDirection = agvDetail.getAgvAngle();
            if (!lastCode.getData().equals(pathList.get(0))) {
                throw new CoolException("AGV[" + agv.getUuid() + "]定位偏移...");
            }

            Double lastDirection = agvDetail.getAgvAngle();
            boolean first = true;

            for (Segment segment : segmentList) {

                // 分段所属的Task
@@ -936,7 +898,7 @@
                        break;
                    case TO_CHARGE:
                        // 检验方向
                        FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
                        FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
                        Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                        if (!lastDirection.equals(chargeDirection)) {
                            actionList.add(new Action(
@@ -1081,6 +1043,7 @@
            for (Action action : actionList) {
                action.setActionSts(ActionStsType.ISSUED.val());
                action.setStartTime(now);
                action.setIoTime(now);
                action.setUpdateTime(now);
                if (!actionService.updateById(action)) {
                    throw new BusinessException(action.getPriority() + " - " + action.getName() + "动作更新失败");
@@ -1355,7 +1318,7 @@
                }

                // segment call back
                trafficService.callback(segmentList);
                segmentService.processNext(segmentList);

                log.info("Agv [{}] {}作业完毕 ==========>> ", protocol.getAgvNo(), serialNo);