#

vincentlu

4 小时以前 3bb3a6268339027643b3e85b5162f78788b30086

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

@@ -21,7 +21,7 @@
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.LaneDto;
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;
@@ -90,11 +90,11 @@
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private TrafficService trafficService;
    private LaneService laneService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;
    private LaneBuilder laneBuilder;
    @Autowired
    private ActionSorter actionSorter;
    @Autowired
@@ -670,6 +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));
@@ -791,9 +792,9 @@
            task.setOriCode(agvDetail.getCode());
            task.setDestCode(endCode.getId());
            // lane
            Lane destLane = laneService.search(endCode.getData());
            if (null != destLane) {
                task.setDestLaneHash(destLane.getHashCode());
            LaneDto destLaneDto = laneBuilder.search(endCode.getData());
            if (null != destLaneDto) {
                task.setDestLaneHash(destLaneDto.getHashCode());
            }
            task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
            task.setTaskSts(TaskStsType.ASSIGN.val());
@@ -805,6 +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));
@@ -905,6 +907,7 @@

            AgvModel agvModel = agvModelService.getByAgvId(agvId);
            Double workDirection = agvModel.getWorkDirection();
            final double oppWorkDir = (workDirection + 180) % 360;
            boolean backupAction = null != agvModel.getBackupAction() && agvModel.getBackupActionBool();
            boolean needUndocking = null != agvModel.getNeedUndocking() && agvModel.getNeedUndockingBool();
            AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
@@ -942,51 +945,108 @@
                        String next = pathListPart.get(i);

                        Code nextCode = codeService.getCacheByData(next);
                        // 车头朝前的下一个行走方向
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                        // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                        // 反向角
                        final double oppLastDir = (lastDirection + 180) % 360;
                        // 是否倒退行走
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            nextDirection = workDirection;
                            reverse = true;
                        }

                        // 第二步：判断当前节点是否可以旋转
                        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");
                        // 巷道逻辑
                        if (!laneBuilder.isInitialized()) {
                            throw new CoolException("lanes are not initialized");
                        }
                        LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
                        LaneDto nextLaneDto = laneBuilder.search(nextCode.getData());
                        // 进入巷道角度
                        Double lastLaneDir = laneService.getLaneDirection(lastLaneDto);
                        Double nextLaneDir = laneService.getLaneDirection(nextLaneDto);

                        // 巷道强制转弯，优先级 > workDirection
                        if (null != nextLaneDir) {
                            nextDirection = nextLaneDir;

                            if (!lastDirection.equals(nextDirection)) {
                                if (!lastCode.getCornerBool()) {
                                    throw new CoolException(agvNo + "号小车进入巷道需调整方向为 " + nextDirection + "°，请推至转弯点手动调整");
                                }
                                // turn
                                actionList.add(new Action(
                                        null,    // 编号s
                                        task.getBusId(),    // 总线
                                        task.getId(),    // 任务
                                        null,    // 动作号
                                        null,    // 优先级
                                        ActionTypeType.TurnCorner.desc,    // 名称
                                        (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
                                        actionPrepareSts,    // 动作进度
                                        agvId,    // AGV
                                        now    // 工作时间
                                ));
                                lastDirection = nextDirection;
                            }
                            // 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)) {
                                nextDirection = lastDirection;
                                reverse = true;
                        } else if (null != lastLaneDir) {
                            nextDirection = lastLaneDir;

                            if (!lastDirection.equals(nextDirection)) {
                                if (!lastCode.getCornerBool()) {
                                    throw new CoolException(agvNo + "号小车离开巷道需调整方向为 " + nextDirection + "°，请推至转弯点手动调整");
                                }
                            }
                        } else {
                            if (!lastDirection.equals(nextDirection)) {
                                // 如果下个节点方向与当前agv方向相反，则倒退行走，但是如果当前agv方向正好与工作方向相反，则旋转至工作方向
                                if (nextDirection.equals((lastDirection + 180) % 360) && !workDirection.equals((lastDirection + 180) % 360)) {

                            // 如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                            if (nextDirection.equals(oppWorkDir)) {
                                nextDirection = workDirection;
                                reverse = true;
                            }

                            // 判断当前节点是否可以旋转
                            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");
                                }
                                // 如果不是作业方向（另一组相反方向），判断是否相反方向，如果反方向则倒退行走
                                if (nextDirection.equals(oppLastDir)) {
                                    // 倒退时，因为agv方向没变，所以下一个方向还是agv方向，故nextDirection = lastDirection;
                                    nextDirection = lastDirection;
                                    reverse = true;
                                } else {
                                    // turn
                                    actionList.add(new Action(
                                            null,    // 编号s
                                            task.getBusId(),    // 总线
                                            task.getId(),    // 任务
                                            null,    // 动作号
                                            null,    // 优先级
                                            ActionTypeType.TurnCorner.desc,    // 名称
                                            (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
                                            actionPrepareSts,    // 动作进度
                                            agvId,    // AGV
                                            now    // 工作时间
                                    ));
                                }
                                // 总结：1.如果是作业组（差180°）方向，那么agv方向必须是作业方向，如果 reverse 则说明倒退，这时候nextDirection肯定会等于作业方向（前面赋值了），如果不相同，则报错
                                //      2.如果不是作业组方向（另一组相反方向差180°），因为此函数不能旋转，所以差180°时只能倒退，倒退的时候因为agv不会旋转，所以nextDirection要变成agv方向
                            } else {
                                if (!lastDirection.equals(nextDirection)) {
                                    // 如果下一个方向与agv方向相反，则倒退行走，避免进行毫无意义的转弯动作。
                                    // 但是要注意：如果agv方向与工作方向正好相反，则需要旋转至工作方向，也就是为什么要加!workDirection.equals(oppLastDir)判断
                                    if (nextDirection.equals(oppLastDir) && !workDirection.equals(oppLastDir)) {
                                        // 倒退时，因为agv方向没变，所以下一个方向还是agv方向，故nextDirection = lastDirection;
                                        nextDirection = lastDirection;
                                        reverse = true;
                                    } else {
                                        // turn
                                        actionList.add(new Action(
                                                null,    // 编号s
                                                task.getBusId(),    // 总线
                                                task.getId(),    // 任务
                                                null,    // 动作号
                                                null,    // 优先级
                                                ActionTypeType.TurnCorner.desc,    // 名称
                                                (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
                                                actionPrepareSts,    // 动作进度
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));

                                    lastDirection = nextDirection;
                                        lastDirection = nextDirection;
                                    }
                                }
                            }
                        }
@@ -1014,10 +1074,7 @@
                        }

                        // run
                        ActionTypeType actionType = ActionTypeType.StraightAheadTurnable;
                        if (reverse) {
                            actionType = ActionTypeType.StraightBackTurnable;
                        }
                        ActionTypeType actionType = reverse ? ActionTypeType.StraightBackTurnable : ActionTypeType.StraightAheadTurnable;
                        CodeGap gap = codeGapService.findByCodeOfBoth(lastCode.getId(), nextCode.getId());
                        actionList.add(new Action(
                                null,    // 编号