zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java

@@ -6,7 +6,7 @@

//    NONE(0),
    NONE(0),
    SEVERE(5L * MapDataConstant.MAX_JAM_TIMEOUT),
    SEVERE(10L * MapDataConstant.MAX_JAM_TIMEOUT),
    ;

    public long duration;

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

@@ -21,6 +21,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
import org.springframework.util.StopWatch;

import java.util.*;

@@ -64,6 +65,8 @@
        if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }

        String autoRunAreas = configService.getVal("autoRunAreas", String.class);
        StopWatch stopWatch=new StopWatch();
        stopWatch.start();
        if (Cools.isEmpty(autoRunAreas)) { return; }
        for (char c : autoRunAreas.toCharArray()) {
            switch (c) {
@@ -86,6 +89,8 @@
                    break;
            }
        }
        stopWatch.stop();
        log.info("耗时：{}",stopWatch.getTotalTimeMillis());
    }

    private void autoRun(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {

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

@@ -284,11 +284,13 @@
     */
    @Transactional(propagation = Propagation.REQUIRES_NEW)
    public void buildMajorTask(Long agvId, List<Task> taskList) {
        if (Cools.isEmpty(agvId, taskList)) { return; }
        if (Cools.isEmpty(agvId, taskList)) {
            return;
        }
        try {
            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), false,  true)) {
            if (!agvService.judgeEnable(agv.getId(), false, true)) {
                return;
            }
            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -324,16 +326,18 @@
             * 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);
            final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

            int backpackLev = 0;
            for (Task task : taskList) {

                backpackLev ++;
                backpackLev++;
                Code startCode = null;
                Code endCode = null;
                Loc oriLoc = null; Loc destLoc = null;
                Sta oriSta = null; Sta destSta = 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());
@@ -436,7 +440,7 @@

            // re-order by agv current position
            Code currCode = codeService.getCacheById(agvDetail.getRecentCode());
            Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
            Double[] currPosition = new Double[]{currCode.getX(), currCode.getY()};

            List<List<TaskPosDto>> pickGroups = new ArrayList<>();
            List<List<TaskPosDto>> dropGroups = new ArrayList<>();
@@ -482,7 +486,7 @@
            List<Segment> segmentList = new ArrayList<>();
            for (List<TaskPosDto> dtoList : list) {
                for (TaskPosDto taskPosDto : dtoList) {
                    segSerial ++;
                    segSerial++;
                    AgvBackpackType backpackType = AgvBackpackDto.find(backpackDtoList, taskPosDto.getTaskId());
                    assert null != backpackType;

@@ -531,12 +535,15 @@
     * 充电 回待机位任务
     * zc 新增了是否强制，强制说明由用户发起，小车在超过低电量就可以做移动充电去待机位
     */
    @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,boolean force) {
        if (Cools.isEmpty(agvId, taskType)) { return false; }
    @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, boolean force) {
        if (Cools.isEmpty(agvId, taskType)) {
            return false;
        }
        try {
            String agvNo = agvService.getAgvNo(agvId);
            if (!agvService.judgeEnable(agvId,false, force)) {
            if (!agvService.judgeEnable(agvId, false, force)) {
                return false;
            }
            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -580,7 +587,7 @@
            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.setOriCode(agvDetail.getCode());
            task.setDestCode(endCode.getId());
            // lane
@@ -588,7 +595,7 @@
            if (null != destLane) {
                task.setDestLaneHash(destLane.getHashCode());
            }
            task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
            task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE) ? 2 : 1);
            task.setTaskSts(TaskStsType.ASSIGN.val());
            task.setTaskType(taskType.val());
            task.setIoTime(now);
@@ -610,11 +617,12 @@
            }

            // generate segment
            int segSerial = 0;     segSerial ++;
            int segSerial = 0;
            segSerial++;
            List<Segment> segmentList = new ArrayList<>();

            String posType = "";
            switch (taskType){
            switch (taskType) {
                case TO_CHARGE:
                    posType = TaskPosDto.PosType.TO_CHARGE.toString();
                    break;
@@ -686,7 +694,9 @@
    @Transactional
    public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
        try {
            if (Cools.isEmpty(agvId, segmentList)) { return; }
            if (Cools.isEmpty(agvId, segmentList)) {
                return;
            }
            Date now = new Date();
            long actionPrepareSts = ActionStsType.PREPARE.val();
//            JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
@@ -728,7 +738,9 @@
                    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; }
                        if (i == 0) {
                            continue;
                        }

                        String next = pathListPart.get(i);

@@ -937,7 +949,7 @@
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                 null,    // 优先级
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
@@ -1202,6 +1214,8 @@
        }
    }



    @Transactional
    public void publishAction(String actionGroupId) {
        try {
@@ -1219,6 +1233,28 @@
            String agvNo = agvService.getAgvNo(agvId);
            if (!agvService.judgeOnline(agvId)) {
                return;
            }

            int lastActionIndex = actionSorter.findLastActionIndex(actionList, ActionTypeType.ReadyReleaseToAgvSite.val());
            if (lastActionIndex != -1) {
                List<Action> sortedList = new ArrayList<>(actionList.size());
                for (int i = 0; i < actionList.size(); i++) {
                    // 跳过动作本身
                    if (i != lastActionIndex) {
                        sortedList.add(actionList.get(i));
                    }
                }
                actionList = sortedList;
            }

            Action shang = actionService.getOne(new LambdaQueryWrapper<Action>().eq(Action::getAgvId, agvId).eq(Action::getActionSts, ActionStsType.PREPARE.val()).eq(Action::getActionType, ActionTypeType.ReadyReleaseToAgvSite.val()).orderByDesc(Action::getId));
            if (shang != null) {
                int turnCornerIdx = actionSorter.findFirstActionIndex(actionList, ActionTypeType.TurnCorner.val());
                if (turnCornerIdx == -1) {
                    actionList.add(0, shang);
                } else {
                    actionList.add(turnCornerIdx, shang);
                }
            }

            long actionIssuedSts = ActionStsType.ISSUED.val();
@@ -1438,9 +1474,9 @@

                // segment list
                List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getGroupId, serialNo)
                                .eq(Segment::getGroupId, serialNo)
//                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
                        .orderByAsc(Segment::getSerial)
                                .orderByAsc(Segment::getSerial)
                );

                // settlement
@@ -1470,8 +1506,10 @@
        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;
            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)) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/CodeGapController.java

@@ -91,14 +91,8 @@
        if (codeGap.getCode0().equals(codeGap.getCode1())) {
            return R.error("Save Fail");
        }
        if (codeGapService.count(new LambdaQueryWrapper<CodeGap>()
                .eq(CodeGap::getCode0, codeGap.getCode0())
                .eq(CodeGap::getCode1, codeGap.getCode1())) > 0 ||
                codeGapService.count(new LambdaQueryWrapper<CodeGap>()
                        .eq(CodeGap::getCode0, codeGap.getCode1())
                        .eq(CodeGap::getCode1, codeGap.getCode0())) > 0
        ) {
            return R.error("Save Fail");
        if (codeGapService.getById(codeGap.getId()) == null){
            return R.error("Save Fail no data");
        }
        codeGap.setUpdateBy(getLoginUserId());
        codeGap.setUpdateTime(new Date());

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/utils/ActionSorter.java

@@ -47,7 +47,8 @@
        }

        // 找到最后一个 turnCorner 动作的下标
        int turnCornerIdx = findLastActionIndex(actionList, turnCorner);
        //int turnCornerIdx = findLastActionIndex(actionList, turnCorner);
        int turnCornerIdx = findFirstActionIndex(actionList, turnCorner);

        // 根据是否找到 turnCorner 来选择不同的重新排序逻辑
        if (turnCornerIdx == -1) {
@@ -110,7 +111,7 @@
    /**
     * 在 actionList 中找到第一个指定 actionType 的下标
     */
    private int findFirstActionIndex(List<Action> actionList, long actionType) {
    public int findFirstActionIndex(List<Action> actionList, long actionType) {
        for (int i = 0; i < actionList.size(); i++) {
            if (actionList.get(i).getActionType().equals(actionType)) {
                return i;
@@ -122,7 +123,7 @@
    /**
     * 在 actionList 中找到最后一个指定 actionType 的下标
     */
    private int findLastActionIndex(List<Action> actionList, long actionType) {
    public int findLastActionIndex(List<Action> actionList, long actionType) {
        int index = -1;
        for (int i = 0; i < actionList.size(); i++) {
            if (actionList.get(i).getActionType().equals(actionType)) {