zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
@@ -35,7 +35,7 @@ @Autowired private TaskService taskService; @Autowired private MainService mainService; private MainLxtService mainService; @Autowired private MainLockWrapService mainLockWrapService; @Autowired zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
@@ -49,7 +49,7 @@ @Autowired private TaskService taskService; @Autowired private MainService mainService; private MainLxtService mainService; @Autowired private MainLockWrapService mainLockWrapService; @Autowired zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvCompleteSubscriber.java
@@ -3,7 +3,7 @@ import com.zy.acs.common.constant.RedisConstant; import com.zy.acs.common.domain.AgvProtocol; import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.MainLxtService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.boot.context.event.ApplicationReadyEvent; @@ -23,7 +23,7 @@ private final RedisSupport redis = RedisSupport.defaultRedisSupport; @Autowired private MainService mainService; private MainLxtService mainService; @EventListener(ApplicationReadyEvent.class) private void start(){ zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
@@ -10,7 +10,7 @@ import com.zy.acs.manager.core.constant.LocGroupConstant; import com.zy.acs.manager.core.constant.StaGroupConstant; import com.zy.acs.manager.core.service.MainLockWrapService; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.MainLxtService; import com.zy.acs.manager.core.service.TrafficService; import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam; import com.zy.acs.manager.manager.entity.*; @@ -37,7 +37,7 @@ @Autowired private TaskService taskService; @Autowired private MainService mainService; private MainLxtService mainService; @Autowired private MainLockWrapService mainLockWrapService; @Autowired zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
@@ -3,7 +3,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.acs.manager.core.domain.AgvTaskDto; import com.zy.acs.manager.core.service.MainLockWrapService; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.MainLxtService; import com.zy.acs.manager.core.service.TrafficService; import com.zy.acs.manager.manager.entity.Bus; import com.zy.acs.manager.manager.entity.Segment; @@ -16,8 +16,6 @@ import com.zy.acs.manager.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.boot.context.event.ApplicationReadyEvent; import org.springframework.context.event.EventListener; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Component; @@ -53,7 +51,7 @@ @Autowired private TaskService taskService; @Autowired private MainService mainService; private MainLxtService mainService; @Autowired private MainLockWrapService mainLockWrapService; @Autowired @@ -69,7 +67,7 @@ @Autowired private AgvModelService agvModelService; @Scheduled(cron = "0/1 * * * * ? ") //@Scheduled(cron = "0/1 * * * * ? ") private void startupBus() throws InterruptedException { // if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; } if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; } @@ -80,7 +78,7 @@ this.lock.unlock(); } @Scheduled(cron = "0/1 * * * * ? ") //@Scheduled(cron = "0/1 * * * * ? ") private void calculateSeg() throws InterruptedException { if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; } List<Task> taskList = taskService.selectBySts(TaskStsType.WAITING); @@ -103,7 +101,7 @@ this.lock.unlock(); } @EventListener(ApplicationReadyEvent.class) //@EventListener(ApplicationReadyEvent.class) public void init() { try { Thread.sleep(1200); } catch (InterruptedException ignore) {} // traffic calculate zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
@@ -5,7 +5,7 @@ import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.framework.common.DateUtils; import com.zy.acs.manager.core.service.MainLockWrapService; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.MainLxtService; import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.*; import com.zy.acs.manager.manager.service.*; @@ -36,7 +36,7 @@ @Autowired private FuncStaService funcStaService; @Autowired private MainService mainService; private MainLxtService mainService; @Autowired private MainLockWrapService mainLockWrapService; @Autowired @@ -48,7 +48,7 @@ @Autowired private SegmentService segmentService; @Scheduled(cron = "0/5 * * * * ? ") // @Scheduled(cron = "0/5 * * * * ? ") private synchronized void autoCharge(){ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val)); for (Agv agv : agvList) { @@ -87,7 +87,7 @@ } @Scheduled(cron = "0/1 * * * * ? ") // @Scheduled(cron = "0/1 * * * * ? ") // @Scheduled(cron = "0 */2 * * * ? ") private synchronized void autoStandby(){ if (!configService.getVal("automaticStandbyPosition", Boolean.class)) { return; } zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/BaseMainService.java
File was renamed from zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java @@ -19,14 +19,10 @@ 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.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.TaskPosDto; import com.zy.acs.manager.core.service.astart.MapDataDispatcher; import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam; import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.*; import com.zy.acs.manager.manager.service.*; @@ -41,14 +37,13 @@ import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.util.*; import java.util.stream.Collectors; /** * Created by vincent on 2023/6/14 */ @Slf4j @Service("mainService") public class MainService implements IMainService { @Service("baseMainService") public class BaseMainService implements IBaseMainService { @Autowired private BusService busService; @@ -96,439 +91,6 @@ private LaneService laneService; @Autowired private ActionSorter actionSorter; @SuppressWarnings("all") @Transactional public Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) { String errorMsg = busService.checkoutValid(busSubmitParam); if (!Cools.isEmpty(errorMsg)) { throw new BusinessException(errorMsg); } String batch = busSubmitParam.getBatch(); List<TaskDto> taskDtoList = busSubmitParam.getTaskList(); if (Cools.isEmpty(taskDtoList)) { throw new BusinessException("taskList can't be empty!"); } // 优先级排序 taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority()); // 校验 List<Task> taskList = validService.validTaskDtoList(taskDtoList); // 保存总线 Date now = new Date(); Bus bus = new Bus(); bus.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); bus.setBusNo(batch); bus.setStartTime(now); bus.setBusSts(BusStsType.RECEIVE.val()); bus.setMemo(memo); if (!busService.save(bus)) { throw new BusinessException("Internal Server Error!"); } // 保存任务 for (Task task : taskList) { task.setBusId(bus.getId()); task.setTaskSts(TaskStsType.INIT.val()); if (!taskService.save(task)) { throw new BusinessException("seqNum:" + task.getSeqNum() + " failed to save!"); } // 修改库位状态 Loc oriLoc = null; Loc destLoc = null; Sta oriSta = null; Sta destSta = null; switch (TaskTypeType.get(task.getTaskTypeEl())) { case LOC_TO_LOC: oriLoc = locService.getById(task.getOriLoc()); if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status"); } oriLoc.setLocSts(LocStsType.PAKOUT.val()); oriLoc.setUpdateTime(now); if (!locService.updateById(oriLoc)) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update"); } destLoc = locService.getById(task.getDestLoc()); if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status"); } destLoc.setLocSts(LocStsType.PAKIN.val()); destLoc.setUpdateTime(now); if (!locService.updateById(destLoc)) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update"); } break; case LOC_TO_STA: oriLoc = locService.getById(task.getOriLoc()); if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status"); } oriLoc.setLocSts(LocStsType.PAKOUT.val()); oriLoc.setUpdateTime(now); if (!locService.updateById(oriLoc)) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update"); } destSta = staService.getById(task.getDestSta()); if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) { throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status"); } destSta.setStaSts(StaStsType.READY_RELEASE.val()); destSta.setUpdateTime(now); if (!staService.updateById(destSta)) { throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update"); } break; case STA_TO_LOC: oriSta = staService.getById(task.getOriSta()); if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) { throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status"); } oriSta.setStaSts(StaStsType.READY_TAKE.val()); oriSta.setUpdateTime(now); if (!staService.updateById(oriSta)) { throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update"); } destLoc = locService.getById(task.getDestLoc()); if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status"); } destLoc.setLocSts(LocStsType.PAKIN.val()); destLoc.setUpdateTime(now); if (!locService.updateById(destLoc)) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update"); } break; case STA_TO_STA: oriSta = staService.getById(task.getOriSta()); if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) { throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status"); } oriSta.setStaSts(StaStsType.READY_TAKE.val()); oriSta.setUpdateTime(now); if (!staService.updateById(oriSta)) { throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update"); } destSta = staService.getById(task.getDestSta()); if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) { throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status"); } destSta.setStaSts(StaStsType.READY_RELEASE.val()); destSta.setUpdateTime(now); if (!staService.updateById(destSta)) { throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update"); } break; default: break; } } return bus; } /** * 任务分配给车辆 ( 车辆此时是空闲且静止的 ) */ @Transactional public synchronized void allocateTask(Bus bus) { try { Date now = new Date(); List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>() .eq(Task::getBusId, bus.getId()) .eq(Task::getTaskSts, TaskStsType.INIT.val()) .orderByDesc(Task::getPriority) ); if (Cools.isEmpty(taskList)) { bus.setBusSts(BusStsType.PROGRESS.val()); bus.setUpdateTime(now); if (!busService.updateById(bus)) { log.error("Bus [{}] failed to Update ！！！", bus.getUuid()); } return; } List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList()); for (Task task : taskList) { Agv agv = allocateService.execute(task); if (null == agv) { // log.warn("Task[{}] has an issue， because it failed to check out 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"); } } } catch (Exception e) { log.error("mainService.infuseAgvForTask", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 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 ) * todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)} */ @Transactional(propagation = Propagation.REQUIRES_NEW) public void buildMajorTask(Long agvId, List<Task> taskList) { if (Cools.isEmpty(agvId, taskList)) { return; } try { // valid ----------------------------------------------- Agv agv = agvService.getById(agvId); if (!agvService.judgeEnable(agv.getId(), false)) { return; } 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..."); } if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString())) || !Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) { throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the segment in running..."); } // execute ---------------------------------------------------- Date now = new Date(); // sort and sub taskList.sort(new Comparator<Task>() { @Override public int compare(Task o1, Task o2) { return o2.getPriority() - o1.getPriority(); } }); Integer backpack = agvService.getBackpack(agv); if (taskList.size() > backpack) { taskList = taskList.subList(0, backpack); } AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId); List<AgvBackpackDto> backpackDtoList = new ArrayList<>(); /** * 同巷道归类 * same lane for every single agvId * * 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<>(); final String sameGroupXy = configService.getVal("sameGroupXy", String.class); int backpackLev = 0; for (Task task : taskList) { backpackLev++; Code startCode = null; Code endCode = null; Loc oriLoc = null; Loc destLoc = null; Sta oriSta = null; Sta destSta = null; switch (Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()))) { case LOC_TO_LOC: oriLoc = locService.getById(task.getOriLoc()); destLoc = locService.getById(task.getDestLoc()); startCode = codeService.getCacheById(oriLoc.getCode()); endCode = codeService.getCacheById(destLoc.getCode()); TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy); TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy); break; case LOC_TO_STA: oriLoc = locService.getById(task.getOriLoc()); destSta = staService.getById(task.getDestSta()); startCode = codeService.getCacheById(oriLoc.getCode()); endCode = codeService.getCacheById(destSta.getCode()); TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy); TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy); break; case STA_TO_LOC: oriSta = staService.getById(task.getOriSta()); destLoc = locService.getById(task.getDestLoc()); startCode = codeService.getCacheById(oriSta.getCode()); endCode = codeService.getCacheById(destLoc.getCode()); TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy); TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy); break; case STA_TO_STA: oriSta = staService.getById(task.getOriSta()); destSta = staService.getById(task.getDestSta()); startCode = codeService.getCacheById(oriSta.getCode()); endCode = codeService.getCacheById(destSta.getCode()); TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy); TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy); break; default: throw new BusinessException(task.getSeqNum() + "任务类型错误"); } if (backpackLev > backpack) { throw new BusinessException("解析Task失败,AGV背篓已满......"); } backpackDtoList.add(new AgvBackpackDto(backpackLev, task.getId())); } /** * 1.Map<String, List<TaskPosDto>> groups * * key: 1000 + ORIGIN * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 3000 + ORIGIN * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 2000 + ORIGIN * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 1000 + DESTINATION * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 2000 + DESTINATION * 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 * * tip: ORI 和 DEST 永远不会存在同一个 List */ ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values()); list.sort((o1, o2) -> { double o1CompVal = (o1.get(0).getFirstWeight(sameGroupXy) * 100) + o1.get(0).getPosType().compOffset; 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.getCacheById(agvDetail.getRecentCode()); Double[] currPosition = new Double[]{currCode.getX(), currCode.getY()}; List<List<TaskPosDto>> pickGroups = new ArrayList<>(); List<List<TaskPosDto>> dropGroups = new ArrayList<>(); for (List<TaskPosDto> group : list) { // Assume 一个任务组中所有TaskPosDto的PosType.brief相同 TaskPosDto.PosType posType = group.get(0).getPosType(); if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) { pickGroups.add(group); } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) { dropGroups.add(group); } else { // import tip: the list must only contain ORIGIN and DESTINATION log.error("the list must only contain ORIGIN and DESTINATION"); } } currPosition = allocateService.pac(currPosition, pickGroups); currPosition = allocateService.pac(currPosition, dropGroups); List<List<TaskPosDto>> reorderedList = new ArrayList<>(); reorderedList.addAll(pickGroups); reorderedList.addAll(dropGroups); list.clear(); list.addAll(reorderedList); // generate travel Travel travel = new Travel(); travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setAgvId(agvId); travel.setTaskContent(JSON.toJSONString(list)); travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList()))); travel.setState(TravelStateType.RUNNING.toString()); if (!travelService.save(travel)) { throw new BusinessException("任务组保存失败"); } // generate segment int segSerial = 0; List<Segment> segmentList = new ArrayList<>(); for (List<TaskPosDto> dtoList : list) { for (TaskPosDto taskPosDto : dtoList) { segSerial++; AgvBackpackType backpackType = AgvBackpackDto.find(backpackDtoList, taskPosDto.getTaskId()); assert null != backpackType; Segment segment = new Segment(); segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); segment.setTravelId(travel.getId()); segment.setAgvId(agvId); segment.setTaskId(taskPosDto.getTaskId()); segment.setSerial(segSerial); segment.setEndNode(taskPosDto.getCodeId()); segment.setPosType(taskPosDto.getPosType().toString()); segment.setBackpack(backpackType.lev); segment.setState(SegmentStateType.INIT.toString()); segmentList.add(segment); } } for (int i = 0; i < segmentList.size(); i++) { Segment segment = segmentList.get(i); if (i == 0) { segment.setState(SegmentStateType.WAITING.toString()); } if (!segmentService.save(segment)) { throw new BusinessException("任务组保存失败"); } } // 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"); } } } catch (Exception e) { log.error("mainService.buildMajorTask[task]", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/IBaseMainService.java
New file @@ -0,0 +1,26 @@ package com.zy.acs.manager.core.service; import com.zy.acs.common.domain.AgvProtocol; import com.zy.acs.manager.manager.entity.Segment; import java.util.Date; import java.util.List; /** * Created by vincent on 2023/6/14 */ public interface IBaseMainService { /** * 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 ) */ void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime); void publishAction(String actionGroupId); void upDataSubscribe(AgvProtocol protocol); void settleSegmentList(List<Segment> segmentList, String serialNo); } zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/IMainService.java
File was deleted zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java
@@ -1,7 +1,6 @@ package com.zy.acs.manager.core.service; import com.zy.acs.framework.exception.CoolException; import com.zy.acs.manager.manager.entity.Agv; import com.zy.acs.manager.manager.entity.Jam; import com.zy.acs.manager.manager.entity.Task; import com.zy.acs.manager.manager.enums.TaskTypeType; @@ -25,7 +24,7 @@ private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE); @Autowired private MainService mainService; private MainLxtService mainService; public void buildMajorTask(Long agvId, List<Task> taskList) { boolean lockAcquired = false; zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLxtService.java
New file @@ -0,0 +1,679 @@ package com.zy.acs.manager.core.service; import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.acs.common.enums.AgvBackpackType; import com.zy.acs.common.utils.GsonUtils; 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.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.TaskPosDto; import com.zy.acs.manager.core.service.astart.MapDataDispatcher; import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam; import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.*; import com.zy.acs.manager.manager.service.*; import com.zy.acs.manager.manager.utils.ActionSorter; import com.zy.acs.manager.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Propagation; import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.util.*; import java.util.stream.Collectors; /** * Created by vincent on 2023/6/14 */ @Slf4j @Service("mainService") public class MainLxtService extends BaseMainService { @Autowired private BusService busService; @Autowired private TaskService taskService; @Autowired private ActionService actionService; @Autowired private StaService staService; @Autowired private LocService locService; @Autowired private AgvService agvService; @Autowired private AgvDetailService agvDetailService; @Autowired private ConfigService configService; @Autowired private ValidService validService; @Autowired private AllocateService allocateService; @Autowired private CodeService codeService; @Autowired private MapService mapService; @Autowired private SnowflakeIdWorker snowflakeIdWorker; @Autowired private CodeGapService codeGapService; @Autowired private AgvCmdService agvCmdService; @Autowired private FuncStaService funcStaService; @Autowired private MapDataDispatcher mapDataDispatcher; @Autowired private TravelService travelService; @Autowired private SegmentService segmentService; @Autowired private TrafficService trafficService; @Autowired private AgvModelService agvModelService; @Autowired private LaneService laneService; @Autowired private ActionSorter actionSorter; @SuppressWarnings("all") @Transactional public Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) { String errorMsg = busService.checkoutValid(busSubmitParam); if (!Cools.isEmpty(errorMsg)) { throw new BusinessException(errorMsg); } String batch = busSubmitParam.getBatch(); List<TaskDto> taskDtoList = busSubmitParam.getTaskList(); if (Cools.isEmpty(taskDtoList)) { throw new BusinessException("taskList can't be empty!"); } // 优先级排序 taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority()); // 校验 List<Task> taskList = validService.validTaskDtoList(taskDtoList); // 保存总线 Date now = new Date(); Bus bus = new Bus(); bus.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); bus.setBusNo(batch); bus.setStartTime(now); bus.setBusSts(BusStsType.RECEIVE.val()); bus.setMemo(memo); if (!busService.save(bus)) { throw new BusinessException("Internal Server Error!"); } // 保存任务 for (Task task : taskList) { task.setBusId(bus.getId()); task.setTaskSts(TaskStsType.INIT.val()); if (!taskService.save(task)) { throw new BusinessException("seqNum:" + task.getSeqNum() + " failed to save!"); } // 修改库位状态 Loc oriLoc = null; Loc destLoc = null; Sta oriSta = null; Sta destSta = null; switch (TaskTypeType.get(task.getTaskTypeEl())) { case LOC_TO_LOC: oriLoc = locService.getById(task.getOriLoc()); if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status"); } oriLoc.setLocSts(LocStsType.PAKOUT.val()); oriLoc.setUpdateTime(now); if (!locService.updateById(oriLoc)) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update"); } destLoc = locService.getById(task.getDestLoc()); if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status"); } destLoc.setLocSts(LocStsType.PAKIN.val()); destLoc.setUpdateTime(now); if (!locService.updateById(destLoc)) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update"); } break; case LOC_TO_STA: oriLoc = locService.getById(task.getOriLoc()); if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status"); } oriLoc.setLocSts(LocStsType.PAKOUT.val()); oriLoc.setUpdateTime(now); if (!locService.updateById(oriLoc)) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update"); } destSta = staService.getById(task.getDestSta()); if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) { throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status"); } destSta.setStaSts(StaStsType.READY_RELEASE.val()); destSta.setUpdateTime(now); if (!staService.updateById(destSta)) { throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update"); } break; case STA_TO_LOC: oriSta = staService.getById(task.getOriSta()); if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) { throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status"); } oriSta.setStaSts(StaStsType.READY_TAKE.val()); oriSta.setUpdateTime(now); if (!staService.updateById(oriSta)) { throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update"); } destLoc = locService.getById(task.getDestLoc()); if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status"); } destLoc.setLocSts(LocStsType.PAKIN.val()); destLoc.setUpdateTime(now); if (!locService.updateById(destLoc)) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update"); } break; case STA_TO_STA: oriSta = staService.getById(task.getOriSta()); if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) { throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status"); } oriSta.setStaSts(StaStsType.READY_TAKE.val()); oriSta.setUpdateTime(now); if (!staService.updateById(oriSta)) { throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update"); } destSta = staService.getById(task.getDestSta()); if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) { throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status"); } destSta.setStaSts(StaStsType.READY_RELEASE.val()); destSta.setUpdateTime(now); if (!staService.updateById(destSta)) { throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update"); } break; default: break; } } return bus; } /** * 任务分配给车辆 ( 车辆此时是空闲且静止的 ) */ @Transactional public synchronized void allocateTask(Bus bus) { try { Date now = new Date(); List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>() .eq(Task::getBusId, bus.getId()) .eq(Task::getTaskSts, TaskStsType.INIT.val()) .orderByDesc(Task::getPriority) ); if (Cools.isEmpty(taskList)) { bus.setBusSts(BusStsType.PROGRESS.val()); bus.setUpdateTime(now); if (!busService.updateById(bus)) { log.error("Bus [{}] failed to Update ！！！", bus.getUuid()); } return; } List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList()); for (Task task : taskList) { Agv agv = allocateService.execute(task); if (null == agv) { // log.warn("Task[{}] has an issue， because it failed to check out 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"); } } } catch (Exception e) { log.error("mainService.infuseAgvForTask", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 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 ) * todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)} */ @Transactional(propagation = Propagation.REQUIRES_NEW) public void buildMajorTask(Long agvId, List<Task> taskList) { if (Cools.isEmpty(agvId, taskList)) { return; } try { // valid ----------------------------------------------- Agv agv = agvService.getById(agvId); if (!agvService.judgeEnable(agv.getId(), false)) { return; } 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..."); } if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString())) || !Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) { throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the segment in running..."); } // execute ---------------------------------------------------- Date now = new Date(); // sort and sub taskList.sort(new Comparator<Task>() { @Override public int compare(Task o1, Task o2) { return o2.getPriority() - o1.getPriority(); } }); Integer backpack = agvService.getBackpack(agv); if (taskList.size() > backpack) { taskList = taskList.subList(0, backpack); } AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId); List<AgvBackpackDto> backpackDtoList = new ArrayList<>(); /** * 同巷道归类 * same lane for every single agvId * * 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<>(); final String sameGroupXy = configService.getVal("sameGroupXy", String.class); int backpackLev = 0; for (Task task : taskList) { backpackLev++; Code startCode = null; Code endCode = null; Loc oriLoc = null; Loc destLoc = null; Sta oriSta = null; Sta destSta = null; switch (Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()))) { case LOC_TO_LOC: oriLoc = locService.getById(task.getOriLoc()); destLoc = locService.getById(task.getDestLoc()); startCode = codeService.getCacheById(oriLoc.getCode()); endCode = codeService.getCacheById(destLoc.getCode()); TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy); TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy); break; case LOC_TO_STA: oriLoc = locService.getById(task.getOriLoc()); destSta = staService.getById(task.getDestSta()); startCode = codeService.getCacheById(oriLoc.getCode()); endCode = codeService.getCacheById(destSta.getCode()); TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy); TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy); break; case STA_TO_LOC: oriSta = staService.getById(task.getOriSta()); destLoc = locService.getById(task.getDestLoc()); startCode = codeService.getCacheById(oriSta.getCode()); endCode = codeService.getCacheById(destLoc.getCode()); TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy); TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy); break; case STA_TO_STA: oriSta = staService.getById(task.getOriSta()); destSta = staService.getById(task.getDestSta()); startCode = codeService.getCacheById(oriSta.getCode()); endCode = codeService.getCacheById(destSta.getCode()); TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy); TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy); break; default: throw new BusinessException(task.getSeqNum() + "任务类型错误"); } if (backpackLev > backpack) { throw new BusinessException("解析Task失败,AGV背篓已满......"); } backpackDtoList.add(new AgvBackpackDto(backpackLev, task.getId())); } /** * 1.Map<String, List<TaskPosDto>> groups * * key: 1000 + ORIGIN * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 3000 + ORIGIN * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 2000 + ORIGIN * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 1000 + DESTINATION * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 2000 + DESTINATION * 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 * * tip: ORI 和 DEST 永远不会存在同一个 List */ ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values()); list.sort((o1, o2) -> { double o1CompVal = (o1.get(0).getFirstWeight(sameGroupXy) * 100) + o1.get(0).getPosType().compOffset; 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.getCacheById(agvDetail.getRecentCode()); Double[] currPosition = new Double[]{currCode.getX(), currCode.getY()}; List<List<TaskPosDto>> pickGroups = new ArrayList<>(); List<List<TaskPosDto>> dropGroups = new ArrayList<>(); for (List<TaskPosDto> group : list) { // Assume 一个任务组中所有TaskPosDto的PosType.brief相同 TaskPosDto.PosType posType = group.get(0).getPosType(); if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) { pickGroups.add(group); } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) { dropGroups.add(group); } else { // import tip: the list must only contain ORIGIN and DESTINATION log.error("the list must only contain ORIGIN and DESTINATION"); } } currPosition = allocateService.pac(currPosition, pickGroups); currPosition = allocateService.pac(currPosition, dropGroups); List<List<TaskPosDto>> reorderedList = new ArrayList<>(); reorderedList.addAll(pickGroups); reorderedList.addAll(dropGroups); list.clear(); list.addAll(reorderedList); // generate travel Travel travel = new Travel(); travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setAgvId(agvId); travel.setTaskContent(JSON.toJSONString(list)); travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList()))); travel.setState(TravelStateType.RUNNING.toString()); if (!travelService.save(travel)) { throw new BusinessException("任务组保存失败"); } // generate segment int segSerial = 0; List<Segment> segmentList = new ArrayList<>(); for (List<TaskPosDto> dtoList : list) { for (TaskPosDto taskPosDto : dtoList) { segSerial++; AgvBackpackType backpackType = AgvBackpackDto.find(backpackDtoList, taskPosDto.getTaskId()); assert null != backpackType; Segment segment = new Segment(); segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); segment.setTravelId(travel.getId()); segment.setAgvId(agvId); segment.setTaskId(taskPosDto.getTaskId()); segment.setSerial(segSerial); segment.setEndNode(taskPosDto.getCodeId()); segment.setPosType(taskPosDto.getPosType().toString()); segment.setBackpack(backpackType.lev); segment.setState(SegmentStateType.INIT.toString()); segmentList.add(segment); } } for (int i = 0; i < segmentList.size(); i++) { Segment segment = segmentList.get(i); if (i == 0) { segment.setState(SegmentStateType.WAITING.toString()); } if (!segmentService.save(segment)) { throw new BusinessException("任务组保存失败"); } } // 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"); } } } catch (Exception e) { log.error("mainService.buildMajorTask[task]", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 充电 回待机位任务 */ @Transactional(propagation = Propagation.REQUIRES_NEW) // although there is a Transactional here that the lock is isolated, but we can't join the caller's Transactional public boolean buildMinorTask(Long agvId, TaskTypeType taskType, String destination, Jam jam) { if (Cools.isEmpty(agvId, taskType)) { return false; } try { String agvNo = agvService.getAgvNo(agvId); if (!agvService.judgeEnable(agvId)) { return false; } if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) { throw new CoolException("AGV[" + agvNo + "] failed to assign，because already has the task in running..."); } if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString())) || !Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.RUNNING.toString()))) { throw new CoolException("AGV[" + agvNo + "] failed to assign，because already has the segment in running..."); } Date now = new Date(); AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId); Code endCode = null; switch (taskType) { case TO_CHARGE: case TO_STANDBY: List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agvId); if (!Cools.isEmpty(idleFunStaList)) { FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList); endCode = codeService.getCacheById(funcSta.getCode()); } if (null == endCode) { log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agvNo, taskType.toString()); } break; case MOVE: endCode = codeService.getCacheByData(destination); break; default: return false; } if (null == endCode) { return false; } if (!allocateService.validCapacityOfLane(agvNo, endCode)) { throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agvNo + "]!!!"); } Task task = new Task(); 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.setOriCode(agvDetail.getCode()); task.setDestCode(endCode.getId()); // lane Lane destLane = laneService.search(endCode.getData()); if (null != destLane) { task.setDestLaneHash(destLane.getHashCode()); } task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE) ? 2 : 1); task.setTaskSts(TaskStsType.ASSIGN.val()); task.setTaskType(taskType.val()); task.setIoTime(now); task.setStartTime(now); if (!taskService.save(task)) { throw new BusinessException(task.getSeqNum() + " failed to save"); } // generate travel Travel travel = new Travel(); travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setAgvId(agvId); // travel.setTaskContent(JSON.toJSONString(list)); travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId()))); travel.setState(TravelStateType.RUNNING.toString()); if (!travelService.save(travel)) { throw new BusinessException("travel failed to save"); } // generate segment int segSerial = 0; segSerial++; List<Segment> segmentList = new ArrayList<>(); String posType = ""; switch (taskType) { case TO_CHARGE: posType = TaskPosDto.PosType.TO_CHARGE.toString(); break; case TO_STANDBY: posType = TaskPosDto.PosType.TO_STANDBY.toString(); break; case MOVE: posType = TaskPosDto.PosType.MOVE.toString(); break; default: break; } Segment segment = new Segment(); segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); segment.setTravelId(travel.getId()); segment.setAgvId(agvId); segment.setTaskId(task.getId()); segment.setSerial(segSerial); segment.setEndNode(endCode.getId()); segment.setPosType(posType); segment.setState(SegmentStateType.INIT.toString()); segmentList.add(segment); for (int i = 0; i < segmentList.size(); i++) { Segment next = segmentList.get(i); if (i == 0) { next.setState(SegmentStateType.WAITING.toString()); } if (!segmentService.save(next)) { throw new BusinessException("segment failed to save"); } else { if (null != jam && i == 0) { jam.setAvoSeg(next.getId()); jam.setAvoCode(endCode.getId()); } } } switch (taskType) { case TO_CHARGE: case TO_STANDBY: // funcSta FuncSta destFuncSta = funcStaService.getByCodeAndType(task.getDestCode(), FuncStaType.query(taskType).toString()); destFuncSta.setState(FuncStaStateType.OCCUPIED.toString()); destFuncSta.setUpdateTime(now); if (!funcStaService.updateById(destFuncSta)) { log.error("FuncSta [{}] failed to update ！！！", destFuncSta.getName()); } break; case MOVE: break; default: break; } return true; } catch (Exception e) { log.error("mainService.buildMinorTask[task]", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); return false; } } } zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java
@@ -2,24 +2,10 @@ import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.acs.common.domain.AgvAction; import com.zy.acs.common.domain.AgvActionItem; import com.zy.acs.common.domain.AgvProtocol; import com.zy.acs.common.domain.BaseResult; import com.zy.acs.common.domain.protocol.AGV_11_UP; 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.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.framework.common.Cools; import com.zy.acs.framework.common.SnowflakeIdWorker; import com.zy.acs.framework.exception.CoolException; import com.zy.acs.manager.common.domain.param.HandlerPublishParam; import com.zy.acs.manager.common.exception.BusinessException; import com.zy.acs.manager.core.domain.TaskPosDto; import com.zy.acs.manager.core.service.astart.MapDataDispatcher; import com.zy.acs.manager.core.third.zkd.HttpUtils; import com.zy.acs.manager.core.third.zkd.dto.AllocateTask; @@ -28,7 +14,6 @@ import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.*; import com.zy.acs.manager.manager.service.*; import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl; import com.zy.acs.manager.manager.utils.ActionSorter; import com.zy.acs.manager.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; @@ -38,7 +23,10 @@ import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.util.*; import java.util.ArrayList; import java.util.Date; import java.util.List; import java.util.Objects; import java.util.stream.Collectors; /** @@ -46,7 +34,7 @@ */ @Slf4j @Service("zkdMainService") public class MainZkdService implements IMainService { public class MainZkdService extends BaseMainService { @Autowired private BusService busService; @@ -182,7 +170,6 @@ } /** * 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 ) * todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)} @@ -243,872 +230,5 @@ } } /** * 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, Date algoStartTime) { try { if (Cools.isEmpty(agvId, segmentList)) { return; } Date now = new Date(); long actionPrepareSts = ActionStsType.PREPARE.val(); // JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class); int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class); String agvNo = agvService.getAgvNo(agvId); // if (!agvService.judgeEnable(agvId)) { // throw new CoolException("AGV[" + agvNo + "]当前不可用..."); // } AgvModel agvModel = agvModelService.getByAgvId(agvId); Double workDirection = agvModel.getWorkDirection(); AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed()); assert agvSpeedType != null; AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId); List<Action> actionList = new ArrayList<>(); // start node Code lastCode = codeService.getCacheById(agvDetail.getRecentCode()); Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle()); if (!lastCode.getData().equals(pathList.get(0))) { throw new CoolException("AGV[" + agvNo + "]定位偏移..."); } boolean first = true; for (Segment segment : segmentList) { // 分段所属的Task Task task = taskService.getById(segment.getTaskId()); // 节点条码 Code code = codeService.getCacheById(segment.getEndNode()); // 需要走行 if (!lastCode.getData().equals(code.getData())) { // 走行路径节点 // List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code); List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1); for (int i = 0; i < pathListPart.size(); i++) { if (i == 0) { continue; } String next = pathListPart.get(i); Code nextCode = codeService.getCacheByData(next); 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 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"); } // 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 (!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)) { 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 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 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; } } } // 第一个动作一定是 turn if (actionList.isEmpty()) { // turn actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 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; } // run ActionTypeType actionType = ActionTypeType.StraightAheadTurnable; if (reverse) { actionType = ActionTypeType.StraightBackTurnable; } CodeGap gap = codeGapService.findByCodeOfBoth(lastCode.getId(), nextCode.getId()); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 actionType.desc, // 名称 (double) agvSpeedType.val, // 属性值 lastCode.getData(), // 地面码 String.valueOf(gap.getDistance()), // 动作参数 actionType.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastCode = nextCode; } } // 初始方向值补丁 if (first) { if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) { // turn actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值 lastCode.getData(), // 地面码 String.valueOf(workDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = workDirection; } first = false; } // 作业点动作 AgvDirectionType agvDirectionType; Double staWorkDirection; AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack()); switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) { case ORI_LOC: assert backpackType != null; // 检验方向 if (!lastDirection.equals(workDirection)) { throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整"); } // 货架取货 Loc oriLoc = locService.getById(task.getOriLoc()); // 计算左右方向 agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyTakeFromShelvesLoc.desc, // 名称 (double) agvDirectionType.val, // 属性值 lastCode.getData(), // 地面码 String.valueOf(oriLoc.getOffset()), // 动作参数 ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); // 暂存点放货 actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称 (double) backpackType.lev, // 属性值 lastCode.getData(), // 地面码 String.valueOf(backpackType.height), // 动作参数 ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); break; case DEST_LOC: assert backpackType != null; // 检验方向 if (!lastDirection.equals(workDirection)) { throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整"); } // 暂存点取货货 actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称 (double) backpackType.lev, // 属性值 lastCode.getData(), // 地面码 String.valueOf(backpackType.height), // 动作参数 ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); // 货架放货 Loc destLoc = locService.getById(task.getDestLoc()); // 计算左右方向 agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 名称 (double) agvDirectionType.val, // 属性值 lastCode.getData(), // 地面码 String.valueOf(destLoc.getOffset()), // 动作参数 ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); break; case ORI_STA: // 站点取货 Sta oriSta = staService.getById(task.getOriSta()); Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection); // 检验方向 if (!lastDirection.equals(oriStaWorkDirection)) { if (!lastCode.getCornerBool()) { throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整"); } // turn actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值 lastCode.getData(), // 地面码 String.valueOf(oriStaWorkDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = oriStaWorkDirection; } // 计算货叉工作方向 staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyTakeFromConveyorSta.desc, // 名称 staWorkDirection, // 属性值 lastCode.getData(), // 地面码 String.valueOf(oriSta.getOffset()), // 动作参数 ActionTypeType.ReadyTakeFromConveyorSta.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); // 暂存点放货 assert backpackType != null; actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称 (double) backpackType.lev, // 属性值 lastCode.getData(), // 地面码 String.valueOf(backpackType.height), // 动作参数 ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); break; case DEST_STA: // 站点放货 Sta destSta = staService.getById(task.getDestSta()); Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection); // 检验方向 if (!lastDirection.equals(destStaWorkDirection)) { if (!lastCode.getCornerBool()) { throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整"); } // turn actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值 lastCode.getData(), // 地面码 String.valueOf(destStaWorkDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = destStaWorkDirection; } // 暂存点取货 assert backpackType != null; actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称 (double) backpackType.lev, // 属性值 lastCode.getData(), // 地面码 String.valueOf(backpackType.height), // 动作参数 ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); // 计算货叉工作方向 staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyReleaseToConveyorSta.desc, // 名称 staWorkDirection, // 属性值 lastCode.getData(), // 地面码 String.valueOf(destSta.getOffset()), // 动作参数 ActionTypeType.ReadyReleaseToConveyorSta.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); break; case TO_CHARGE: // 检验方向 FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString()); Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle()); if (!lastDirection.equals(chargeDirection)) { actionList.add(new Action( null, // 编号 null, // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值 lastCode.getData(), // 地面码 String.valueOf(chargeDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = chargeDirection; } // charge actionList.add(new Action( null, // 编号 null, // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.DockingCharge.desc, // 名称 null, // 属性值 lastCode.getData(), // 地面码 null, // 动作参数 ActionTypeType.DockingCharge.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); break; case TO_STANDBY: // FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2); // Double standByDirection = Double.parseDouble(standByFuncSta.getAngle()); // if (!lastDirection.equals(standByDirection)) { // actionList.add(new Action( // null, // 编号 // null, // 总线 // task.getId(), // 任务 // null, // 动作号 // null, // 优先级 // ActionTypeType.TurnCorner.desc, // 名称 // null, // 属性值 // lastCode.getData(), // 地面码 // String.valueOf(standByDirection), // 动作参数 // ActionTypeType.TurnCorner.val(), // 动作类型 // actionPrepareSts, // 动作进度 // agvId, // AGV // now // 工作时间 // )); // lastDirection = standByDirection; // } break; case MOVE: break; default: break; } } // finish actionList.add(new Action( null, // 编号 null, // 总线 null, // 任务 null, // 动作号 null, // 优先级 ActionTypeType.FinishPath.desc, // 名称 null, // 属性值 lastCode.getData(), // 地面码 null, // 动作参数 ActionTypeType.FinishPath.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); List<Action> newActionList = actionSorter.optimizeSort(actionList); String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3); // save action int i = newActionList.size(); for (Action action : newActionList) { // action.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); action.setGroupId(groupId); action.setPriority(i); i -= 1; } if (!actionService.saveBatch(newActionList)) { throw new BusinessException("group[" + groupId + "] 动作保存失败"); } // update segment for (Segment item : segmentList) { 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"); } } log.info("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size()); } catch (Exception e) { log.error("mainService.generateAction", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); if (!Cools.isEmpty(pathList)) { pathList.remove(0); List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, pathList); mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList); } throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e); } } @Transactional public void publishAction(String actionGroupId) { try { Date now = new Date(); // action List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>() .eq(Action::getGroupId, actionGroupId).eq(Action::getActionSts, ActionStsType.PREPARE.val()) .orderByDesc(Action::getPriority)); if (Cools.isEmpty(actionList)) { return; } Long agvId = actionList.get(0).getAgvId(); String agvNo = agvService.getAgvNo(agvId); if (!agvService.judgeOnline(agvId)) { return; } long actionIssuedSts = ActionStsType.ISSUED.val(); for (Action action : actionList) { action.setActionSts(actionIssuedSts); action.setStartTime(now); action.setIoTime(now); action.setUpdateTime(now); } if (!actionService.updateBatchById(actionList)) { throw new BusinessException("failed to update action batch !!!"); } // 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(taskAssignSts)) { task.setTaskSts(taskProgressSts); task.setUpdateTime(now); if (!taskService.updateById(task)) { throw new BusinessException(task.getSeqNum() + "任务更新失败"); } } } AgvAction agvAction = new AgvAction(agvNo, actionGroupId); for (Action action : actionList) { switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) { case TurnCorner: agvAction.add(new AgvActionItem<>(TurnCornerAction.class) .setQrCode(action.getCode()) .setVal(Optional.ofNullable(action.getVal()).orElse(0D).intValue()) .bodySync(body -> body.setAngle((short) Double.parseDouble(action.getParams()))) ); break; case StraightBackUnturnable: break; case StraightBackTurnable: agvAction.add(new AgvActionItem<>(StraightBackTurnableAction.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams()))) ); break; case StraightAheadUnturnable: break; case StraightAheadTurnable: agvAction.add(new AgvActionItem<>(StraightAheadTurnableAction.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams()))) ); break; case ReadyTakeFromShelvesLoc: agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams()))) ); break; case ReadyTakeFromConveyorSta: agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams()))) ); break; case ReadyTakeFromAgvSite: agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams()))) ); break; case ReadyReleaseToShelvesLoc: agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams()))) ); break; case ReadyReleaseToConveyorSta: agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams()))) ); break; case ReadyReleaseToAgvSite: agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams()))) ); break; case FinishPath: agvAction.add(new AgvActionItem<>(FinishPathAction.class) .setQrCode(action.getCode()) ); break; case DockingCharge: agvAction.add(new AgvActionItem<>(DockingChargeAction.class) .setQrCode(action.getCode()) ); break; default: break; } } BaseResult<?> result = agvCmdService.executeAgvActionCmd(agvAction); if (result.success()) { log.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size()); } else { log.error("任务组 [{}] 动作指令下发失败 ！！！", actionGroupId); throw new CoolException("任务组 [{" + actionGroupId + "}] 动作指令下发失败 ！！！"); } } catch (Exception e) { log.error("mainService.publishAction", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } @Transactional public void upDataSubscribe(AgvProtocol protocol) { Date now = new Date(); Agv agv = agvService.selectByUuid(protocol.getAgvNo()); if (null == agv) { log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo()); return; } IMessageBody msgBody = protocol.getMessageBody(); assert msgBody != null; // 动作完成包 if (msgBody instanceof AGV_11_UP) { AGV_11_UP agv_11_up = (AGV_11_UP) msgBody; String serialNo = agv_11_up.getSerialNo(); log.info("Agv [{}] 动作完成包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up)); // 入库放货 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())) { 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()); } } } } } } // 出库取货 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 { 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()); } } } } } } // 路径完成 || 充电完成 if (agv_11_up.getCompleteType().equals(AgvCompleteType.ENTIRE_PATH_COMPLETE) || agv_11_up.getCompleteType().equals(AgvCompleteType.DOCKING_CHARGE_COMPLETE)) { // segment list List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>() .eq(Segment::getGroupId, serialNo) // .eq(Segment::getState, SegmentStateType.RUNNING.toString()) .orderByAsc(Segment::getSerial) ); // settlement this.settleSegmentList(segmentList, serialNo); log.info("Agv [{}] {}作业完毕 ==========>> ", protocol.getAgvNo(), serialNo); } } // 料仓信息包 if (msgBody instanceof AGV_70_UP) { AGV_70_UP agv_70_up = (AGV_70_UP) msgBody; log.info("Agv [{}] 料仓信息包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up)); } } @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); } } zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -52,7 +52,7 @@ @Autowired private SegmentService segmentService; @Autowired private MainService mainService; private MainLxtService mainService; @Autowired private MainLockWrapService mainLockWrapService; @Autowired zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
@@ -8,7 +8,7 @@ import com.zy.acs.manager.core.domain.CodeStepDto; import com.zy.acs.manager.core.domain.type.JobType; import com.zy.acs.manager.core.scheduler.MapDataWsScheduler; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.MainLxtService; import com.zy.acs.manager.core.service.MapService; import com.zy.acs.manager.manager.entity.Action; import com.zy.acs.manager.manager.entity.Agv; @@ -34,7 +34,7 @@ private final CodeService codeService; private final MapService mapService; private final JamService jamService; private final MainService mainService; private final MainLxtService mainService; private final List<Action> actionList; private final RedisSupport redis; @@ -50,7 +50,7 @@ , CodeService codeService , MapService mapService , JamService jamService , MainService mainService , MainLxtService mainService , List<Action> actionList ) { this.agv = agv; zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
@@ -7,7 +7,7 @@ import com.zy.acs.common.domain.protocol.AGV_01_UP; import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.framework.common.Cools; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.MainLxtService; import com.zy.acs.manager.core.service.MapService; import com.zy.acs.manager.manager.entity.Action; import com.zy.acs.manager.manager.entity.Agv; @@ -67,7 +67,7 @@ @Autowired private JamService jamService; @Autowired private MainService mainService; private MainLxtService mainService; @PostConstruct public void init() { zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/BusController.java
@@ -9,7 +9,7 @@ import com.zy.acs.manager.common.domain.*; import com.zy.acs.manager.common.utils.BusinessSortService; import com.zy.acs.manager.common.utils.ExcelUtil; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.MainLxtService; import com.zy.acs.manager.manager.controller.param.BusCreateParam; import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam; import com.zy.acs.manager.manager.entity.Bus; @@ -37,7 +37,7 @@ @Autowired private BusService busService; @Autowired private MainService mainService; private MainLxtService mainService; @Autowired private StaService staService; @Autowired zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenController.java
@@ -3,7 +3,7 @@ import com.zy.acs.manager.common.annotation.OperationLog; import com.zy.acs.framework.common.R; import com.zy.acs.manager.system.controller.BaseController; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.MainLxtService; import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam; import io.swagger.annotations.Api; import org.springframework.beans.factory.annotation.Autowired; @@ -22,7 +22,7 @@ public class OpenController extends BaseController { @Autowired private MainService mainService; private MainLxtService mainService; @PreAuthorize("hasAuthority('open:bus:submit')") @PostMapping("/bus/submit")
