#

luxiaotao1123

2024-11-12 f7a68273c9ae23eb81e90eb0349c8314ccd8927c

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

@@ -3,9 +3,6 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
import com.zy.acs.common.domain.AgvProtocol;
@@ -14,10 +11,18 @@
import com.zy.acs.common.domain.protocol.AGV_70_UP;
import com.zy.acs.common.domain.protocol.IMessageBody;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
import com.zy.acs.common.enums.AgvBackpackType;
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.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.TaskPosDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
@@ -45,6 +50,7 @@
@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);

@@ -67,6 +73,8 @@
    @Autowired
    private ValidService validService;
    @Autowired
    private AllocateService allocateService;
    @Autowired
    private CodeService codeService;
    @Autowired
    private MapService mapService;
@@ -88,8 +96,7 @@
    private TrafficService trafficService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private MissionAssignService missionAssignService;


    @SuppressWarnings("all")
    @Transactional
@@ -108,7 +115,7 @@
        taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());

        // 校验
        List<Task> taskList = validService.validBusDto(taskDtoList);
        List<Task> taskList = validService.validTaskDtoList(taskDtoList);

        // 保存总线
        Date now = new Date();
@@ -194,7 +201,7 @@
     * 任务分配给车辆 ( 车辆此时是空闲且静止的 )
     */
    @Transactional
    public synchronized void infuseAgvForTask(Bus bus) {
    public synchronized void allocateTask(Bus bus) {
        try {
            Date now = new Date();
            List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
@@ -211,17 +218,14 @@
                }
                return;
            }
            List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());

            Map<String, List<Long>> taskAllot = new HashMap<>();
            List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
            for (Task task : taskList) {
                Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
                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());
                    continue;
                }


                task.setAgvId(agv.getId());
                task.setTaskSts(TaskStsType.WAITING.val());
                task.setIoTime(now);
@@ -229,17 +233,35 @@
                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()));
                }
            }

//            bus.setUpdateTime(now);
//            if (!busService.updateById(bus)) {
//                throw new BusinessException(bus.getSeqNum() + "总线更新失败");

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


//
//            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);
@@ -251,38 +273,30 @@
     * 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 )
     */
    @Transactional
    public synchronized void mergeMajorTask(Long agvId, List<Task> taskList) {
    public synchronized void buildMajorTask(Long agvId, List<Task> taskList) {
        if (Cools.isEmpty(taskList)) { return; }
        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 ...");
            }
            Date now = new Date();
            final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);

            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), agvDetail -> agvDetail.getVol() > agv.getChargeLine())) {
            if (!agvService.judgeEnable(agv.getId(), true)) {
                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...");
            }

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            assert agvDetail != null;
            if (agvDetail.getPos() == 0) {
                if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                    throw new CoolException("AGV[" + agv.getUuid() + "]当前不在定位...");
                }
            }

            // execute ----------------------------------------------------
            Date now = new Date();
            // sort and sub
            taskList.sort(new Comparator<Task>() {
                @Override
                public int compare(Task o1, Task o2) {
                    return 0;
                    return o2.getPriority() - o1.getPriority();
                }
            });
            Integer backpack = agvService.getBackpack(agv);
@@ -290,15 +304,18 @@
                taskList = taskList.subList(0, backpack);
            }

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            List<AgvBackpackDto> backpackDtoList = new ArrayList<>();

            /**
             * single agvId
             * 同巷道归类
             * same lane for every single agvId
             *
             * key: y + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
             * key: y(val) + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
             * val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
             */
            Map<String, List<TaskPosDto>> groups = new HashMap<>();

            List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
            final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);

            int backpackLev = 0;
            for (Task task : taskList) {
@@ -362,7 +379,31 @@
            }

            /**
             *  List<TaskPosDto>: task list on the same channel
             * 1.Map<String, List<TaskPosDto>> groups
             *
             * key: 1000 + ORI_LOC
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 3000 + ORI_LOC
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 2000 + ORI_LOC
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * ......
             *
             * 2.ArrayList<List<TaskPosDto>> list
             * [
             *  [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
             *  [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
             *  [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
             *  ......
             * ]
             */

            /**
             * 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
             */
            ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
@@ -371,9 +412,53 @@
                double o2CompVal = (o2.get(0).getFirstWeight(sameGroupXy) * 100) + o2.get(0).getPosType().compOffset;
                return (int) (o1CompVal - o2CompVal);
            });

            // 针对Dto，按照SecondWeight进行排序
            for (List<TaskPosDto> taskPosDtoList : list) {
                taskPosDtoList.sort((o1, o2) -> (int) (o1.getSecondWeight(sameGroupXy) * 100 - o2.getSecondWeight(sameGroupXy) * 100));
            }

            // re-order by agv current position
            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);

            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);
                    }
                } else {
                    if (distanceByTailOfFirst < distanceByHeadOfFirst) {
                        Collections.reverse(theFirstOne);
                    }
                }
            }

            // generate travel
@@ -465,15 +550,13 @@
            switch (taskType) {
                case TO_CHARGE:
                case TO_STANDBY:
                    List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
                                    .eq(FuncSta::getType, FuncStaType.query(taskType).toString())
                                    .eq(FuncSta::getAgvId, agv.getId())
                                    .eq(FuncSta::getState, FuncStaStateType.IDLE.toString())
                                    .eq(FuncSta::getStatus, StatusType.ENABLE.val)
                    );
                    if (!Cools.isEmpty(funcStaList)) {
                        FuncSta funcSta = funcStaList.get(0);
                    List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agv.getId());
                    if (!Cools.isEmpty(idleFunStaList)) {
                        FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
                        endCode = codeService.getById(funcSta.getCode());
                    }
                    if (null == endCode) {
                        log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agv.getUuid(), taskType.toString());
                    }
                    break;
                case MOVE:
@@ -484,7 +567,6 @@
            }

            if (null == endCode) {
                log.error("{}号车辆建立功能任务失败，无法检索到目标定位，TaskTypeType：{}", agv.getUuid(), taskType.toString());
                return false;
            }

@@ -501,7 +583,7 @@
            task.setIoTime(now);
            task.setStartTime(now);
            if (!taskService.save(task)) {
                throw new BusinessException(task.getSeqNum() + "任务保存失败");
                throw new BusinessException(task.getSeqNum() + " failed to save");
            }

            // generate travel
@@ -513,7 +595,7 @@
            travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
            travel.setState(TravelStateType.RUNNING.toString());
            if (!travelService.save(travel)) {
                throw new BusinessException("任务组保存失败");
                throw new BusinessException("travel failed to save");
            }

            // generate segment
@@ -552,7 +634,7 @@
                    next.setState(SegmentStateType.WAITING.toString());
                }
                if (!segmentService.save(next)) {
                    throw new BusinessException("任务组保存失败");
                    throw new BusinessException("segment failed to save");
                }
            }

@@ -564,7 +646,7 @@
                    destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
                    destFuncSta.setUpdateTime(now);
                    if (!funcStaService.updateById(destFuncSta)) {
                        log.error("FuncSta [{}] 更新状态失败 ！！！", destFuncSta.getName());
                        log.error("FuncSta [{}] failed to update ！！！", destFuncSta.getName());
                    }
                    break;
                case MOVE:
@@ -572,6 +654,10 @@
                default:
                    break;
            }

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

            return true;
        } catch (Exception e) {
@@ -608,11 +694,6 @@

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            assert agvDetail != null;
            if (agvDetail.getPos() == 0) {
                if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                    throw new CoolException("AGV[" + agv.getUuid() + "]当前不在定位...");
                }
            }

            List<Action> actionList = new ArrayList<>();
            // start node
@@ -1000,6 +1081,7 @@
            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");
@@ -1274,7 +1356,7 @@
                }

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

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