From 13ea8b334572c2423abb8d156fd8428f8d074172 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 03 七月 2025 08:24:58 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java | 119 +++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 75 insertions(+), 44 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java
index 04391b8..540b950 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java
@@ -2,17 +2,22 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
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;
import com.zy.acs.manager.core.third.zkd.dto.AllocateTaskResponse;
import com.zy.acs.manager.core.third.zkd.dto.Navigation;
import com.zy.acs.manager.manager.entity.*;
-import com.zy.acs.manager.manager.enums.*;
+import com.zy.acs.manager.manager.enums.BusStsType;
+import com.zy.acs.manager.manager.enums.SegmentStateType;
+import com.zy.acs.manager.manager.enums.TaskStsType;
+import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.manager.utils.ActionSorter;
import com.zy.acs.manager.system.service.ConfigService;
@@ -74,8 +79,8 @@
private TravelService travelService;
@Autowired
private SegmentService segmentService;
- @Autowired
- private TrafficService trafficService;
+ // @Autowired
+// private TrafficService trafficService;
@Autowired
private AgvModelService agvModelService;
@Autowired
@@ -149,20 +154,33 @@
allocateTask.setEnd(endCode);
allocateTask.setType("1");
allocateTask.setPriority(task.getPriority());
+ allocateTasks.add(allocateTask);
}
- allocateTasks.add(allocateTask);
- String post = HttpUtils.post("http://localhost:8080/zy-acs-manager/api/v1/zkd/allocateTask", JSON.toJSONString(allocateTasks));
- List<AllocateTaskResponse> allocateTaskResponses = JSON.parseArray(post, AllocateTaskResponse.class);
- for (AllocateTaskResponse allocateTaskResponse : allocateTaskResponses) {
- Task task = taskService.getById(allocateTaskResponse.getTaskId());
- task.setAgvId(Long.parseLong(allocateTaskResponse.getAgvId()));
- task.setTaskSts(TaskStsType.WAITING.val());
- task.setIoTime(now);
- task.setUpdateTime(now);
- if (!taskService.updateById(task)) {
- throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+ log.info("allocateTask:{}", JSON.toJSONString(allocateTasks));
+ String post = HttpUtils.post("http://10.10.10.239:8002/open/task/send/v1", JSON.toJSONString(allocateTasks));
+ if (post == null) {
+ return;
+ }
+ Object data = JSON.parseObject(post).get("data");
+ if (data != null) {
+ List<AllocateTaskResponse> allocateTaskResponses = JSON.parseArray(data.toString(), AllocateTaskResponse.class);
+ if (Cools.isEmpty(allocateTaskResponses)) {
+ log.error("allocateTaskResponses is null,{}", post);
+ throw new BusinessException("浠诲姟涓嬪彂澶辫触");
+ }
+ for (AllocateTaskResponse allocateTaskResponse : allocateTaskResponses) {
+ Task task = taskService.getById(allocateTaskResponse.getTaskId());
+ task.setAgvId(agvService.getAgvId(allocateTaskResponse.getAgvId()));
+ task.setBack(allocateTaskResponse.getLev_id());
+ 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.allocateTaskByZkd", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -175,37 +193,53 @@
* todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)}
*/
@Transactional(propagation = Propagation.REQUIRES_NEW)
- public void buildMajorTask(Long agvId, Navigation navigation) {
+ public boolean buildMajorTask(Long agvId, Navigation navigation) {
try {
// 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(navigation));
- //travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList())));
- travel.setState(TravelStateType.RUNNING.toString());
- if (!travelService.save(travel)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
- }
+// 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(navigation));
+// //travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList())));
+// travel.setState(TravelStateType.RUNNING.toString());
+// if (!travelService.save(travel)) {
+// throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+// }
// generate segment
- int segSerial = 0;
- List<Segment> segmentList = new ArrayList<>();
+ Segment segment = segmentService.getOne(new QueryWrapper<Segment>().eq("uuid", navigation.getSegId()));
+ if (segment == null) {
+ segment = new Segment();
+ }
+ int segSerial = 1;
+ //segment.setTravelId(travel.getId());
+ segment.setAgvId(agvId);
+
+ segment.setSerial(segSerial);
for (Navigation.CodeDTO codeDTO : navigation.getCodeList()) {
- segSerial++;
+ //segSerial++;
Task task = taskService.getById(Long.parseLong(codeDTO.getTaskId()));
- Segment segment = new Segment();
- segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- segment.setTravelId(travel.getId());
- segment.setAgvId(agvId);
+ segment.setUuid(navigation.getSegId());
segment.setTaskId(task.getId());
- segment.setSerial(segSerial);
- Code cacheByData = codeService.getCacheByData(codeDTO.getCode());
+ Code cacheByData = codeService.getCacheById(Long.parseLong(codeDTO.getCode()));
+ if (cacheByData == null) {
+ throw new BusinessException(codeDTO.getCode() + "鐐逛綅涓嶅瓨鍦�");
+ }
segment.setEndNode(cacheByData.getId());
- segment.setPosType(codeDTO.getPosType());
+ if (codeDTO.getPosType() != null) {
+ if (task.getTaskType().equals(TaskTypeType.LOC_TO_STA.val())) {
+ segment.setPosType(codeDTO.getPosType().equals("1") ? TaskPosDto.PosType.ORI_LOC.toString() : TaskPosDto.PosType.DEST_STA.toString());
+ } else if (task.getTaskType().equals(TaskTypeType.STA_TO_LOC.val())) {
+ segment.setPosType(codeDTO.getPosType().equals("1") ? TaskPosDto.PosType.ORI_STA.toString() : TaskPosDto.PosType.DEST_LOC.toString());
+ } else if (task.getTaskType().equals(TaskTypeType.STA_TO_STA.val())) {
+ segment.setPosType(codeDTO.getPosType().equals("1") ? TaskPosDto.PosType.ORI_STA.toString() : TaskPosDto.PosType.DEST_STA.toString());
+ } else if (task.getTaskType().equals(TaskTypeType.LOC_TO_LOC.val())) {
+ segment.setPosType(codeDTO.getPosType().equals("1") ? TaskPosDto.PosType.ORI_LOC.toString() : TaskPosDto.PosType.DEST_LOC.toString());
+ }
+ }
segment.setBackpack(codeDTO.getLev());
segment.setState(SegmentStateType.INIT.toString());
- segmentList.add(segment);
+ segment.setPath((Cools.isEmpty(segment.getPath()) ? "" : segment.getPath()) + cacheByData.getData() + ",");
task.setTaskSts(TaskStsType.ASSIGN.val());
task.setStartTime(new Date());
@@ -214,20 +248,17 @@
throw new BusinessException(task.getUuid() + "浠诲姟鏇存柊澶辫触");
}
}
- 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("浠诲姟缁勪繚瀛樺け璐�");
- }
+
+ segment.setState(SegmentStateType.WAITING.toString());
+ if (!segmentService.save(segment)) {
+ throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
}
} catch (Exception e) {
log.error("mainService.buildMajorTask[task]", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
+ return true;
}
--
Gitblit v1.9.1