#

luxiaotao1123

2025-01-07 e7cc0981a18fa322642dadddf7043623c83d676f

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

@@ -250,7 +250,6 @@
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), true)) {
                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...");
@@ -473,6 +472,7 @@
            // task
            for (Task task : taskList) {
                task.setTaskSts(TaskStsType.ASSIGN.val());
                task.setStartTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    throw new BusinessException(task.getUuid() + "任务更新失败");
@@ -642,7 +642,7 @@
     * 根据分片生成动作 ( 车辆可能已经做过一些任务了,正在等待下一段任务 )
     */
    @Transactional
    public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList) {
    public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
        try {
            if (Cools.isEmpty(agvId, segmentList)) { return; }
            Date now = new Date();
@@ -658,7 +658,6 @@
            assert agvSpeedType != null;

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            assert agvDetail != null;

            List<Action> actionList = new ArrayList<>();
            // start node
@@ -697,7 +696,7 @@
                            nextDirection = workDirection;
                            reverse = true;
                        }
                        if (!lastDirection.equals(nextDirection) || actionList.size() == 0) {
                        if (!lastDirection.equals(nextDirection) || actionList.isEmpty()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
@@ -1011,6 +1010,9 @@
                item.setGroupId(groupId);
                item.setState(SegmentStateType.RUNNING.toString());
                item.setUpdateTime(now);
                if (null != algoStartTime) {
                    item.setAlgoTime((int) (now.getTime() - algoStartTime.getTime()));
                }
                if (!segmentService.updateById(item)) {
                    throw new CoolException("更新Segment失败");
                }
@@ -1023,7 +1025,8 @@

            if (!Cools.isEmpty(pathList)) {
                pathList.remove(0);
                mapDataDispatcher.clearDynamicMatrixByCodeList(null, pathList);
                List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, pathList);
                mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList);
            }

            throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);
@@ -1042,8 +1045,9 @@
            if (Cools.isEmpty(actionList)) {
                return;
            }
            long actionIssuedSts = ActionStsType.ISSUED.val();
            for (Action action : actionList) {
                action.setActionSts(ActionStsType.ISSUED.val());
                action.setActionSts(actionIssuedSts);
                action.setStartTime(now);
                action.setIoTime(now);
                action.setUpdateTime(now);
@@ -1054,17 +1058,18 @@

            // task
            List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
            long taskAssignSts = TaskStsType.ASSIGN.val();
            long taskProgressSts = TaskStsType.PROGRESS.val();
            for (Long taskId : taskIds) {
                Task task = taskService.getById(taskId);
                if (task.getTaskSts().equals(TaskStsType.ASSIGN.val())) {
                    task.setTaskSts(TaskStsType.PROGRESS.val());
                if (task.getTaskSts().equals(taskAssignSts)) {
                    task.setTaskSts(taskProgressSts);
                    task.setUpdateTime(now);
                    if (!taskService.updateById(task)) {
                        throw new BusinessException(task.getSeqNum() + "任务更新失败");
                    }
                }
            }


            Agv agv = agvService.getById(actionList.get(0).getAgvId());
            AgvAction agvAction = new AgvAction(agv.getUuid(), actionGroupId);
@@ -1250,77 +1255,8 @@
                        .orderByAsc(Segment::getSerial)
                );

                // task
                for (Segment segment : segmentList) {
                    boolean taskComplete = false;

                    Task task = taskService.getById(segment.getTaskId());   assert null != task;
                    TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl());     assert null != typeType;

                    TaskPosDto.PosType posType = TaskPosDto.queryPosType(segment.getPosType());
                    switch (Objects.requireNonNull(posType)) {
                        case ORI_STA:
                        case ORI_LOC:
                            break;
                        case DEST_STA:
                        case DEST_LOC:
                        case TO_CHARGE:
                        case TO_STANDBY:
                            if (segment.getEndNode().equals(task.getDestCode())) {
                                taskComplete = true;
                            }
                            break;
                        case MOVE:
                            if (segment.getEndNode().equals(task.getDestCode())) {
                                if (typeType.equals(TaskTypeType.MOVE)) {
                                    taskComplete = true;
                                }
                            }
                            break;
                        default:
                            break;
                    }

                    if (taskComplete) {
                        locService.taskCallBack(task);

                        task.setTaskSts(TaskStsType.COMPLETE.val());
                        task.setEndTime(now);
                        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());
                        }

                    }
                }

                // action
                List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
                        .eq(Action::getGroupId, serialNo)
                        .eq(Action::getActionSts, ActionStsType.ISSUED.val())
                );
                for (Action action : actionList) {
                    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());
                    }
                }

                // segment
                for (Segment segment : segmentList) {
                    segment.setState(SegmentStateType.FINISH.toString());
                    segment.setUpdateTime(now);
                    if (!segmentService.updateById(segment)) {
                        log.error("Segment [{}] 更新失败 ！！！", segment.getGroupId() + " - " + segment.getSerial());
                    }
                }

                // segment call back
                segmentService.processNext(segmentList);
                // settlement
                this.settleSegmentList(segmentList, serialNo);

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

@@ -1335,4 +1271,86 @@
        }
    }

    @Transactional
    public void settleSegmentList(List<Segment> segmentList, String serialNo) {
        if (Cools.isEmpty(segmentList)) {
            return;
        }
        Date now = new Date();

        // task
        for (Segment segment : segmentList) {
            boolean taskComplete = false;

            Task task = taskService.getById(segment.getTaskId());   assert null != task;
            TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl());     assert null != typeType;

            TaskPosDto.PosType posType = TaskPosDto.queryPosType(segment.getPosType());
            switch (Objects.requireNonNull(posType)) {
                case ORI_STA:
                case ORI_LOC:
                    break;
                case DEST_STA:
                case DEST_LOC:
                case TO_CHARGE:
                case TO_STANDBY:
                    if (segment.getEndNode().equals(task.getDestCode())) {
                        taskComplete = true;
                    }
                    break;
                case MOVE:
                    if (segment.getEndNode().equals(task.getDestCode())) {
                        if (typeType.equals(TaskTypeType.MOVE)) {
                            taskComplete = true;
                        }
                    }
                    break;
                default:
                    break;
            }

            if (taskComplete) {
                locService.taskCallBack(task);

                task.setTaskSts(TaskStsType.COMPLETE.val());
                task.setEndTime(now);
                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());
                }

            }
        }

        // action, follow by groupId
        if (!Cools.isEmpty(serialNo)) {
            List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
                    .eq(Action::getGroupId, serialNo)
                    .eq(Action::getActionSts, ActionStsType.ISSUED.val())
            );
            for (Action action : actionList) {
                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());
                }
            }
        }

        // segment
        for (Segment segment : segmentList) {
            segment.setState(SegmentStateType.FINISH.toString());
            segment.setUpdateTime(now);
            if (!segmentService.updateById(segment)) {
                log.error("Segment [{}] 更新失败 ！！！", segment.getGroupId() + " - " + segment.getSerial());
            }
        }

        // segment call back
        segmentService.processNext(segmentList);
    }

}