#

vincentlu

2 天以前 1a518d788ee36886af92b2adfcbe9e79e83ef08e

#

 version/db/new.sql

@@ -1,2 +1,14 @@
alter table man_code
    add dir_rule varchar(255) null comment '方向规则' after corner;
alter table man_travel
    add roller_waiting int(1) default 0 null comment '滚筒线等待' after task_ids;

alter table man_travel
    add roller_waiting_code bigint null comment '滚筒线等待地码' after roller_waiting;

alter table man_travel_log
    add roller_waiting int(1) default 0 null comment '滚筒线等待' after task_ids;

alter table man_travel_log
    add roller_waiting_code bigint null comment '滚筒线等待地码' after roller_waiting;

CREATE INDEX idx_agv_state_wait
    ON man_travel (agv_id, state, roller_waiting, deleted);

 version/db/sqlIndex

@@ -1,3 +1,4 @@
# todo idx ==> deleted
# man_action
CREATE INDEX idx_agv_action ON man_action(agv_id, action_sts);
CREATE INDEX idx_group_io_time ON man_action(group_id, io_time);
@@ -8,7 +9,8 @@
# man_action_type
CREATE INDEX idx_action_type_uuid ON man_action_type(uuid);
# man_travel
CREATE INDEX idx_agv_id_state on man_travel(agv_id, state);
CREATE INDEX idx_agv_id_state ON man_travel(agv_id, state);
CREATE INDEX idx_agv_state_wait ON man_travel (agv_id, state, roller_waiting, deleted);
# man_agv_model
CREATE INDEX idx_agv_model_type ON man_agv_model(type);
# man_bus_sts

 zy-acs-common/src/main/java/com/zy/acs/common/utils/Base62.java

New file
@@ -0,0 +1,17 @@
package com.zy.acs.common.utils;

public class Base62 {

    private static final char[] CHARS = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ".toCharArray();

    public static String encode(long value) {
        if (value == 0) return "0";
        StringBuilder sb = new StringBuilder();
        while (value > 0) {
            sb.append(CHARS[(int) (value % 62)]);
            value /= 62;
        }
        return sb.reverse().toString();
    }

}

 zy-acs-common/src/main/java/com/zy/acs/common/utils/Utils.java

@@ -1,6 +1,7 @@
package com.zy.acs.common.utils;

import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;

import java.util.*;
import java.util.concurrent.ThreadLocalRandom;
@@ -252,6 +253,10 @@
        return str;
    }

    public static void main(String[] args) {
        System.out.println(Base62.encode(new SnowflakeIdWorker().nextId()));
    }

    public static String generateSeqNum(String lastSeqNum) {
        if (Cools.isEmpty(lastSeqNum)) {
            return zeroFill("1", 4);

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -3,8 +3,8 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.Base62;
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.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -165,7 +165,8 @@
        task.setAgvId(agv.getId());
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
        List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
        task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum())); // todo
//        task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
        task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));

        task.setTaskType(param.getTaskMode().val());
        task.setTaskSts(TaskStsType.WAITING.val());

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java

@@ -71,7 +71,7 @@
    @Autowired
    private LocService locService;
    @Autowired
    private AgvModelService agvModelService;
    private TravelService travelService;
    @Autowired
    private TransferStationHandler transferStationHandler;

@@ -124,6 +124,8 @@
                    for (Segment segment : segments) {
                        if (transferStationHandler.hasDelayAtSta(segment)) {
                            continue;
                        } else {
                            travelService.clearRollerWaiting(segment.getTravelId());
                        }
                        try {
                            txTemplate.executeWithoutResult(status -> {

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

@@ -222,20 +222,19 @@
//            if (taskCnt == 0) {
//                continue;
//            }
            // in TransferStationHandler.hasDelayAtSta todo
            Travel runningTravel = travelService.findRunningTravel(agvId);
            if (null == runningTravel) {
            // in TransferStationHandler.hasDelayAtSta
            Travel currTravelInRollerWaiting = travelService.findRollerWaitingTravel(agvId, currentCode.getId());
            if (null == currTravelInRollerWaiting) {
                continue;
            }
            segmentService.hasRollerWaitingNow(runningTravel.getId(), agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA)
            Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
            if (null == currSeg) {
                continue;
            }
//            Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
//            if (null == currSeg) {
//                continue;
//            }

            // has enough backpack space to load
            Integer backpack = agvService.getBackpack(agvId);
            List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(null, agvId);
            List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currTravelInRollerWaiting.getId(), agvId);
            if (usedBackpacks.size() >= backpack) {
                continue;
            }

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

@@ -11,6 +11,7 @@
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
import com.zy.acs.common.utils.Base62;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
@@ -788,7 +789,8 @@
            task.setAgvId(agvId);
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
            task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
//            task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
            task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));
            task.setOriCode(agvDetail.getCode());
            task.setDestCode(endCode.getId());
            // lane
@@ -1868,7 +1870,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                log.info("Agv [{}] 取放货成功", protocol.getAgvNo()); // todo
                                log.info("AGV[{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            case DEST_STA:
@@ -1884,7 +1886,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                log.info("Agv [{}] 取放货成功", protocol.getAgvNo()); // todo
                                log.info("AGV[{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            default:

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

@@ -703,9 +703,12 @@
                continue;
            }
            // 当前vehicle正在进行滚筒输送线等待
            if (segmentService.isRollerWaiting(agvId)) {
            if (travelService.hasRollerWaiting(agvId)) {
                continue;
            }
//            if (segmentService.isRollerWaiting(agvId)) {
//                continue;
//            }
            return blockVehicleDto.getVehicle();
        }
        return null;

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

@@ -30,6 +30,8 @@
    private CodeService codeService;
    @Autowired
    private StaService staService;
    @Autowired
    private TravelService travelService;

    /**
     * 取货（入库）：在取完第一个货的时候，担心滚筒输送线会有下一个货物，所以建议AGV在原地等待一段时间
@@ -74,11 +76,12 @@
                return false;
            }

            // sign waiting
            if (currSeg.getRollerWaiting() == 0) {
                currSeg.setRollerWaiting(1);
                segmentService.updateById(currSeg);
            }
            // mark roller waiting
            travelService.markRollerWaiting(currSeg.getTravelId(), currentCode.getId());
//            if (currSeg.getRollerWaiting() == 0) {
//                currSeg.setRollerWaiting(1);
//                segmentService.updateById(currSeg);
//            }

            // timeout
            return (now - preEndTime) < LOAD_DELAY_MS;
@@ -95,11 +98,12 @@
                return false;
            }

            // sign waiting
            if (currSeg.getRollerWaiting() == 0) {
                currSeg.setRollerWaiting(1);
                segmentService.updateById(currSeg);
            }
            // mark roller waiting
            travelService.markRollerWaiting(currSeg.getTravelId(), currentCode.getId());
//            if (currSeg.getRollerWaiting() == 0) {
//                currSeg.setRollerWaiting(1);
//                segmentService.updateById(currSeg);
//            }

            // timeout
            return (now - preEndTime) < PLACE_DELAY_MS;

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/entity/Segment.java

@@ -8,7 +8,6 @@
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.TaskService;
import com.zy.acs.manager.manager.service.TravelService;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;

@@ -167,15 +166,6 @@
    private String memo;

    public Segment() {}

    public String getTravelId$(){
        TravelService service = SpringUtils.getBean(TravelService.class);
        Travel travel = service.getById(this.travelId);
        if (!Cools.isEmpty(travel)){
            return String.valueOf(travel.getUuid());
        }
        return null;
    }

    public String getTaskId$(){
        TaskService service = SpringUtils.getBean(TaskService.class);

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/entity/Travel.java

@@ -3,9 +3,6 @@
import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableName;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SpringUtils;
import com.zy.acs.manager.manager.service.AgvService;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;

@@ -62,6 +59,18 @@
    private String taskIds;

    /**
     * 滚筒线等待 1: 是  0: 否
     */
    @ApiModelProperty(value= "滚筒线等待 1: 是  0: 否  ")
    private Integer rollerWaiting;

    /**
     * 滚筒线等待地码
     */
    @ApiModelProperty(value= "滚筒线等待地码")
    private Long rollerWaitingCode;

    /**
     * 进度
     */
    @ApiModelProperty(value= "进度")
@@ -115,65 +124,17 @@
    @ApiModelProperty(value= "备注")
    private String memo;

    public Travel() {}

    public Travel(String uuid,String travelId,Long agvId,Long currSeg,String taskContent,String taskIds,String state,Integer status,Integer deleted,Long tenantId,Long createBy,Date createTime,Long updateBy,Date updateTime,String memo) {
        this.uuid = uuid;
        this.travelId = travelId;
        this.agvId = agvId;
        this.currSeg = currSeg;
        this.taskContent = taskContent;
        this.taskIds = taskIds;
        this.state = state;
        this.status = status;
        this.deleted = deleted;
        this.tenantId = tenantId;
        this.createBy = createBy;
        this.createTime = createTime;
        this.updateBy = updateBy;
        this.updateTime = updateTime;
        this.memo = memo;
    }

//    Travel travel = new Travel(
//            null,    // 编号
//            null,    // 组编号
//            null,    // AGV
//            null,    // 当前节点
//            null,    // 内容
//            null,    // 任务列表
//            null,    // 进度
//            null,    // 状态[非空]
//            null,    // 是否删除[非空]
//            null,    // 租户
//            null,    // 添加人员
//            null,    // 添加时间[非空]
//            null,    // 修改人员
//            null,    // 修改时间
//            null    // 备注
//    );

    public String getAgvId$(){
        AgvService service = SpringUtils.getBean(AgvService.class);
        Agv agv = service.getById(this.agvId);
        if (!Cools.isEmpty(agv)){
            return String.valueOf(agv.getUuid());
        }
    public Boolean rollerWaitingBool(){
        if (null == this.rollerWaiting){ return null; }
        switch (this.rollerWaiting){
            case 1:
                return true;
            case 0:
                return false;
            default:
        return null;
    }

    public String getStatus$(){
        if (null == this.status){ return null; }
        switch (this.status){
            case 1:
                return "正常";
            case 0:
                return "冻结";
            default:
                return String.valueOf(this.status);
        }
    }


    public Boolean getStatusBool(){
        if (null == this.status){ return null; }

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java

@@ -31,8 +31,6 @@

    List<Integer> selectUsedBackpacks(Long travelId, Long agvId);

    Segment hasRollerWaitingNow(Long travelId, Long agvId, Long codeId, TaskPosDto.PosType posType);

    Segment getRollerWaiting(Long agvId, Long codeId, TaskPosDto.PosType posType);

    Boolean isRollerWaiting(Long agvId);

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TravelService.java

@@ -11,4 +11,12 @@

    Travel findRunningTravel(Long agvId);

    Travel findRollerWaitingTravel(Long agvId, Long code);

    Boolean hasRollerWaiting(Long agvId);

    Boolean markRollerWaiting(Long travelId, Long codeId);

    Boolean clearRollerWaiting(Long travelId);

}

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java

@@ -174,21 +174,6 @@
    }

    @Override // todo
    public Segment hasRollerWaitingNow(Long travelId, Long agvId, Long codeId, TaskPosDto.PosType posType) {
        List<Segment> segments = this.list(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getTravelId, travelId)
                .eq(Segment::getAgvId, agvId)
                .eq(Segment::getState, SegmentStateType.WAITING.toString())
                .eq(Segment::getEndNode, codeId)
                .eq(Segment::getPosType, posType.toString())
                .eq(Segment::getRollerWaiting, 1)
                .orderByDesc(Segment::getId)
        );

        return null;
    }

    @Override   //todo
    public Segment getRollerWaiting(Long agvId, Long codeId, TaskPosDto.PosType posType) {
        List<Segment> segments = this.list(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getAgvId, agvId)
@@ -204,7 +189,7 @@
        return segments.get(0);
    }

    @Override   // todo
    @Override
    public Boolean isRollerWaiting(Long agvId) {
        return 0 < this.count(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getAgvId, agvId)

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TravelServiceImpl.java

@@ -1,7 +1,10 @@
package com.zy.acs.manager.manager.service.impl;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Travel;
import com.zy.acs.manager.manager.enums.SegmentStateType;
@@ -9,13 +12,13 @@
import com.zy.acs.manager.manager.mapper.TravelMapper;
import com.zy.acs.manager.manager.service.SegmentService;
import com.zy.acs.manager.manager.service.TravelService;
import com.zy.acs.framework.exception.CoolException;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.Date;
import java.util.List;
import java.util.Objects;

@Slf4j
@Service("travelService")
@@ -70,4 +73,80 @@
        );
    }

    @Override
    public Travel findRollerWaitingTravel(Long agvId, Long code) {
        return this.getOne(new LambdaQueryWrapper<Travel>()
                .eq(Travel::getAgvId, agvId)
                .eq(Travel::getState, TravelStateType.RUNNING.toString())
                .eq(Travel::getRollerWaiting, 1)
                .eq(Travel::getRollerWaitingCode, code)
                .orderByDesc(Travel::getCreateTime)
                .last("limit 1")
        );
    }

    @Override
    public Boolean hasRollerWaiting(Long agvId) {
        if (null == agvId) {
            return false;
        }
        return 0 < this.count(new LambdaQueryWrapper<Travel>()
                .eq(Travel::getAgvId, agvId)
                .eq(Travel::getState, TravelStateType.RUNNING.toString())
                .eq(Travel::getRollerWaiting, 1)
        );
    }

    @Override
    public Boolean markRollerWaiting(Long travelId, Long codeId) {
        if (Cools.isEmpty(travelId, codeId)) {
            return false;
        }
        Travel travel = this.getById(travelId);
        if (travel == null) {
            return false;
        }
        if (!TravelStateType.RUNNING.toString().equals(travel.getState())) {
            return false;
        }
        if (travel.getRollerWaiting() == 1
                && Objects.equals(travel.getRollerWaitingCode(), codeId)) {
            return true;
        }
        travel.setRollerWaiting(1);
        travel.setRollerWaitingCode(codeId);
        if (!this.updateById(travel)) {
            log.error("travel [{}] failed to mark roller waiting (code={})", travelId, codeId);
            return false;
        }
        return true;
    }

    @Override
    public Boolean clearRollerWaiting(Long travelId) {
        if (null == travelId) {
            return false;
        }
        Travel travel = this.getById(travelId);
        if (travel == null) {
            return false;
        }
//        if (!TravelStateType.RUNNING.toString().equals(travel.getState())) {
//            return false;
//        }
        if (travel.getRollerWaiting() == 0 && Cools.isEmpty(travel.getRollerWaitingCode())) {
            return true;
        }
        if (!this.update(
                new LambdaUpdateWrapper<Travel>()
                        .eq(Travel::getId, travelId)
                        .set(Travel::getRollerWaiting, 0)
                        .set(Travel::getRollerWaitingCode, null)
        )) {
            log.error("travel [{}] failed to clear roller waiting", travelId);
            return false;
        }
        return true;
    }

}