rcs-flow.git - Gitblit

			@@ -132,6 +132,8 @@
			if (!busService.save(bus)) {
			throw new BusinessException("Internal Server Error!");
			}
			Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, false);


			// 保存任务
			for (Task task : taskList) {
			@@ -149,7 +151,7 @@
			switch (TaskTypeType.get(task.getTaskTypeEl())) {
			case LOC_TO_LOC:
			oriLoc = locService.getById(task.getOriLoc());
			if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
			if (locStaStatusCheck && !oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
			throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
			}
			oriLoc.setLocSts(LocStsType.PAKOUT.val());
			@@ -159,7 +161,7 @@
			}

			destLoc = locService.getById(task.getDestLoc());
			if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
			if (locStaStatusCheck && !destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
			throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
			}
			destLoc.setLocSts(LocStsType.PAKIN.val());
			@@ -170,7 +172,7 @@
			break;
			case LOC_TO_STA:
			oriLoc = locService.getById(task.getOriLoc());
			if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
			if (locStaStatusCheck && !oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
			throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
			}
			oriLoc.setLocSts(LocStsType.PAKOUT.val());
			@@ -180,7 +182,7 @@
			}

			destSta = staService.getById(task.getDestSta());
			if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
			if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
			throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
			}
			destSta.setStaSts(StaStsType.READY_RELEASE.val());
			@@ -191,7 +193,7 @@
			break;
			case STA_TO_LOC:
			oriSta = staService.getById(task.getOriSta());
			if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
			if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
			throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
			}
			oriSta.setStaSts(StaStsType.READY_TAKE.val());
			@@ -201,7 +203,7 @@
			}

			destLoc = locService.getById(task.getDestLoc());
			if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
			if (locStaStatusCheck && !destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
			throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
			}
			destLoc.setLocSts(LocStsType.PAKIN.val());
			@@ -212,7 +214,7 @@
			break;
			case STA_TO_STA:
			oriSta = staService.getById(task.getOriSta());
			if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
			if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
			throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
			}
			oriSta.setStaSts(StaStsType.READY_TAKE.val());
			@@ -222,7 +224,7 @@
			}

			destSta = staService.getById(task.getDestSta());
			if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
			if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
			throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
			}
			destSta.setStaSts(StaStsType.READY_RELEASE.val());
			@@ -277,6 +279,7 @@
			if (!taskService.updateById(task)) {
			throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
			}
			report(task, TaskReportStsType.START);
			}
			} catch (Exception e) {
			log.error("mainService.infuseAgvForTask", e);
			@@ -989,7 +992,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性값
			lastCode.getData(), // 地面码
			String.valueOf(oriStaWorkDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -1025,7 +1028,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			(double) backpackType.lev, // 属性값
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型
			@@ -1051,7 +1054,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性값
			lastCode.getData(), // 地面码
			String.valueOf(destStaWorkDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -1070,7 +1073,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			(double) backpackType.lev, // 属性값
			lastCode.getData(), // 地面码
			String.valueOf(backpackType.height), // 动作参数
			ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型
			@@ -1087,7 +1090,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyReleaseToConveyorSta.desc, // 名称
			staWorkDirection, // 属性值
			staWorkDirection, // 属性값
			lastCode.getData(), // 地面码
			String.valueOf(destSta.getOffset()), // 动作参数
			ActionTypeType.ReadyReleaseToConveyorSta.val(), // 动作类型
			@@ -1108,7 +1111,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性값
			lastCode.getData(), // 地面码
			String.valueOf(chargeDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -1127,7 +1130,7 @@
			null, // 动作号
			null, // 优先级
			ActionTypeType.DockingCharge.desc, // 名称
			null, // 属性值
			null, // 属性값
			lastCode.getData(), // 地面码
			null, // 动作参数
			ActionTypeType.DockingCharge.val(), // 动作类型
			@@ -1147,7 +1150,7 @@
			// null, // 动作号
			// null, // 优先级
			// ActionTypeType.TurnCorner.desc, // 名称
			// null, // 属性值
			// null, // 属性값
			// lastCode.getData(), // 地面码
			// String.valueOf(standByDirection), // 动作参数
			// ActionTypeType.TurnCorner.val(), // 动作类型
			@@ -1157,6 +1160,36 @@
			// ));
			// lastDirection = standByDirection;
			// }
			String runToWaitHeightFlag = configService.getVal("RunToWaitHeightFlag", String.class);
			if (!Cools.isEmpty(runToWaitHeightFlag) && runToWaitHeightFlag.contains(agvId.toString())) {
			String runToWaitHeight = configService.getVal("RunToWaitHeight", String.class);
			if (Cools.isEmpty(runToWaitHeight)) {
			runToWaitHeight = "800";
			}
			Double runToWaitHeightValue = configService.getVal("RunToWaitHeightValue", Double.class);
			if (runToWaitHeightValue == 0) {
			runToWaitHeightValue = 1D;
			}
			// 修复空指针异常：检查lastCode是否为null
			if (lastCode == null) {
			throw new BusinessException("AGV定位信息异常，无法生成待机动作");
			}
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.RunToWaitHeight.desc, // 名称
			runToWaitHeightValue, // 属性값
			lastCode.getData(), // 地面码
			runToWaitHeight, // 动作参数
			ActionTypeType.RunToWaitHeight.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			}
			break;
			case MOVE:
			break;
			@@ -1225,6 +1258,7 @@
			throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);
			}
			}


			@Transactional
			public void publishAction(String actionGroupId) {
			@@ -1341,6 +1375,13 @@
			.bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
			);
			break;
			case RunToWaitHeight:
			agvAction.add(new AgvActionItem<>(RunToWaitHeight.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			);
			break;
			case FinishPath:
			agvAction.add(new AgvActionItem<>(FinishPathAction.class)
			.setQrCode(action.getCode())
			@@ -1395,32 +1436,39 @@
			if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) {
			WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();

			Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
			if (null == loc) {
			log.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
			} else {
			List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
			for (Long taskId : taskIds) {
			Task task = taskService.getById(taskId);
			if (task.getDestLoc().equals(loc.getId())) {
			// Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
			// if (null == loc) {
			// log.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
			// } else {
			// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
			// for (Long taskId : taskIds) {
			// Task task = taskService.getById(taskId);
			// if (task.getDestLoc().equals(loc.getId())) {
			//
			// Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
			// .eq(Action::getTaskId, task.getId())
			// .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
			// .eq(Action::getActionSts, ActionStsType.ISSUED.val())
			// );
			//
			// if (null != action) {
			// action.setActionSts(ActionStsType.FINISH.val());
			// action.setEndTime(now);
			// action.setUpdateTime(now);
			// if (!actionService.updateById(action)) {
			// log.error("Action [{}] 更新失败！！！", action.getPriority() + " - " + action.getName());
			// }
			// }
			// //插入一条
			// report(task, TaskReportStsType.END);
			// }
			// }
			// }

			Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
			.eq(Action::getTaskId, task.getId())
			.eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
			.eq(Action::getActionSts, ActionStsType.ISSUED.val())
			);

			if (null != action) {
			action.setActionSts(ActionStsType.FINISH.val());
			action.setEndTime(now);
			action.setUpdateTime(now);
			if (!actionService.updateById(action)) {
			log.error("Action [{}] 更新失败！！！", action.getPriority() + " - " + action.getName());
			}
			}

			}
			}
			List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
			for (Long taskId : taskIds) {
			Task task = taskService.getById(taskId);
			report(task, TaskReportStsType.END);
			}
			}

			@@ -1428,31 +1476,56 @@
			if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_SHELVES_COMPLETE)) {
			WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();

			Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
			if (null == loc) {
			log.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
			} else {
			// Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
			// if (null == loc) {
			// log.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
			// } else {
			//
			// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
			// for (Long taskId : taskIds) {
			// Task task = taskService.getById(taskId);
			// if (task.getOriLoc().equals(loc.getId())) {
			//
			// Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
			// .eq(Action::getTaskId, task.getId())
			// .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
			// .eq(Action::getActionSts, ActionStsType.ISSUED.val())
			// );
			// if (null != action) {
			// action.setActionSts(ActionStsType.FINISH.val());
			// action.setEndTime(now);
			// action.setUpdateTime(now);
			// if (!actionService.updateById(action)) {
			// log.error("Action [{}] 更新失败！！！", action.getPriority() + " - " + action.getName());
			// }
			// }
			// report(task, TaskReportStsType.OTBIN);
			// }
			// }
			// }
			List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
			for (Long taskId : taskIds) {
			Task task = taskService.getById(taskId);
			report(task, TaskReportStsType.OTBIN);
			}

			List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
			for (Long taskId : taskIds) {
			Task task = taskService.getById(taskId);
			if (task.getOriLoc().equals(loc.getId())) {

			Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
			.eq(Action::getTaskId, task.getId())
			.eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
			.eq(Action::getActionSts, ActionStsType.ISSUED.val())
			);
			if (null != action) {
			action.setActionSts(ActionStsType.FINISH.val());
			action.setEndTime(now);
			action.setUpdateTime(now);
			if (!actionService.updateById(action)) {
			log.error("Action [{}] 更新失败！！！", action.getPriority() + " - " + action.getName());
			}
			}
			}
			}
			}
			//从输送线取货完成
			if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE)) {
			WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
			List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
			for (Long taskId : taskIds) {
			Task task = taskService.getById(taskId);
			report(task, TaskReportStsType.OTBIN);
			}
			}
			//往输送线放货完成
			if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE)) {
			WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
			List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
			for (Long taskId : taskIds) {
			Task task = taskService.getById(taskId);
			report(task, TaskReportStsType.END);
			}
			}

			@@ -1482,6 +1555,7 @@
			log.info("Agv [{}] 料仓信息包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
			}
			}


			@Transactional
			public void settleSegmentList(List<Segment> segmentList, String serialNo) {
			@@ -1531,25 +1605,7 @@
			task.setUpdateTime(now);
			if (!taskService.updateById(task)) {
			log.error("Task [{}] 更新失败！！！", task.getSeqNum());
			} else {
			log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum());
			// TODO 插入一条上报记录
			TaskReport taskReport = new TaskReport();
			taskReport.setAgvId(task.getAgvId());
			taskReport.setBusNo(task.getBusId$());
			taskReport.setCreateTime(new Date());
			taskReport.setDestLoc(task.getDestLoc());
			taskReport.setDestSta(task.getDestSta());
			taskReport.setSeqNum(task.getSeqNum());
			taskReport.setTaskSts(task.getTaskSts());
			taskReport.setOriLoc(task.getOriLoc());
			taskReport.setOriSta(task.getOriSta());
			taskReport.setZpallet(task.getZpallet());
			if (!taskReportService.save(taskReport)) {
			log.info("TaskReport [{}] 插入失败 ==========>> ", JSON.toJSONString(taskReport));
			}
			}

			}
			}

			@@ -1582,4 +1638,23 @@
			segmentService.processNext(segmentList);
			}

			/**
			* 上报给上游系统，就是插入一条数据到上报表
			*/
			private void report(Task task, TaskReportStsType taskReportStsType) {
			// TODO 插入一条上报记录
			TaskReport taskReport = new TaskReport();
			taskReport.setAgvId(task.getAgvId());
			taskReport.setBusNo(task.getBusId$());
			taskReport.setCreateTime(new Date());
			taskReport.setReportTimes(0);
			taskReport.setTaskSts(taskReportStsType.status);
			taskReport.setSeqNum(task.getSeqNum());
			taskReport.setZpallet(task.getZpallet());
			if (!taskReportService.save(taskReport)) {
			log.info("TaskReport [{}] 插入失败 ==========>> ", JSON.toJSONString(taskReport));
			} else {
			log.info("Task [{}] 状态记录插入数据库 ==========>> ", task.getSeqNum());
			}
			}
			}