From 1428a3da49f299abff59023f516deb7efa0bbdc4 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 05 一月 2026 17:31:19 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 746 ++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 630 insertions(+), 116 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index 2496c26..1982f32 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -2,19 +2,17 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
+import com.zy.acs.common.constant.RedisConstant;
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.*;
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.common.enums.*;
import com.zy.acs.common.utils.GsonUtils;
+import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -35,7 +33,7 @@
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
+import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
@@ -47,8 +45,10 @@
* Created by vincent on 2023/6/14
*/
@Slf4j
-@Component("mainService")
+@Service("mainService")
public class MainService {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@Autowired
private BusService busService;
@@ -96,7 +96,10 @@
private LaneService laneService;
@Autowired
private ActionSorter actionSorter;
-
+ @Autowired
+ private StaReserveService staReserveService;
+ @Autowired
+ private ConveyorStationService conveyorStationService;
@SuppressWarnings("all")
@Transactional
@@ -175,8 +178,18 @@
if (!locService.updateById(oriLoc)) {
throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
}
+
+ destSta = staService.getById(task.getDestSta());
+ if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to reserve");
+ }
break;
case STA_TO_LOC:
+ oriSta = staService.getById(task.getOriSta());
+ if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to reserve");
+ }
+
destLoc = locService.getById(task.getDestLoc());
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
@@ -188,6 +201,15 @@
}
break;
case STA_TO_STA:
+ oriSta = staService.getById(task.getOriSta());
+ if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to reserve");
+ }
+
+ destSta = staService.getById(task.getDestSta());
+ if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to reserve");
+ }
break;
default:
break;
@@ -211,28 +233,247 @@
);
if (Cools.isEmpty(taskList)) {
- bus.setBusSts(BusStsType.PROGRESS.val());
- bus.setUpdateTime(now);
- if (!busService.updateById(bus)) {
- log.error("Bus [{}] failed to Update 锛侊紒锛�", bus.getUuid());
+ if (bus.getBusSts().equals(BusStsType.RECEIVE.val())) {
+ bus.setBusSts(BusStsType.PROGRESS.val());
+ bus.setUpdateTime(now);
+ if (!busService.updateById(bus)) {
+ log.error("Bus [{}] failed to Update 锛侊紒锛�", 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锛� because it failed to checkout agv which is idle...", task.getSeqNum());
- continue;
- }
- task.setAgvId(agv.getId());
- task.setTaskSts(TaskStsType.WAITING.val());
- task.setIoTime(now);
- task.setUpdateTime(now);
- if (!taskService.updateById(task)) {
- throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
- }
+// List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
+ for (Task t : taskList) {
+ String resultAgvNo = allocateService.execute(t
+ // inbound
+ , (task, agvNo, sta) -> {
+ Long agvId = agvService.getAgvId(agvNo);
+
+// List<Travel> travelList = travelService.list(new LambdaQueryWrapper<Travel>()
+// .eq(Travel::getAgvId, agvId)
+// .eq(Travel::getState, TravelStateType.RUNNING.toString())
+// .orderByDesc(Travel::getCreateTime));
+// if (Cools.isEmpty(travelList)) {
+// throw new BusinessException("[Agv: " + agvNo + "]allocate inbound failed to find travel");
+// }
+// Travel travel = travelList.get(0);
+//
+// List<Segment> currSegments = segmentService.list(new LambdaQueryWrapper<Segment>()
+// .eq(Segment::getAgvId, agvId)
+// .eq(Segment::getTravelId, travel.getId())
+// );
+ // load segment
+ Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
+ if (null == currSeg) {
+ throw new BusinessException("[Agv:" + agvNo + "] allocate inbound failed: no roller waiting segment");
+ }
+
+ // get backpack lev
+ int backpackLev = 0;
+ int backpack = agvService.getBackpack(agvId);
+ List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
+ if (usedBackpacks.size() >= backpack) {
+ throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
+ }
+ for (int lev = 1; lev <= backpack; lev++) {
+ if (!usedBackpacks.contains(lev)) {
+ backpackLev = lev;
+ break;
+ }
+ }
+ if (backpackLev == 0) {
+ throw new BusinessException("[Agv:" + agvNo + "] backpack full, can't allocate inbound");
+ }
+
+ // update curr seg
+ currSeg.setState(SegmentStateType.INIT.toString());
+ currSeg.setUpdateTime(now);
+ if (!segmentService.updateById(currSeg)) {
+// log.error("Segment [{}] failed to update 锛侊紒锛�", currSeg.getGroupId() + " - " + currSeg.getSerial());
+ throw new CoolException("failed to update segment [" + currSeg.getGroupId() + "-" + currSeg.getSerial() + "] failed");
+ }
+
+ // new oriSta seg
+ Segment loadSeg = new Segment();
+ loadSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ loadSeg.setTravelId(currSeg.getTravelId());
+ loadSeg.setAgvId(agvId);
+ loadSeg.setTaskId(task.getId());
+ loadSeg.setSerial(currSeg.getSerial() - 1);
+ loadSeg.setEndNode(sta.getCode());
+ loadSeg.setPosType(TaskPosDto.PosType.ORI_STA.toString());
+ loadSeg.setState(SegmentStateType.WAITING.toString());
+ loadSeg.setBackpack(backpackLev);
+ loadSeg.setCreateTime(now);
+ loadSeg.setUpdateTime(now);
+ if (!segmentService.save(loadSeg)) {
+// log.error("Segment [{}] failed to save 锛侊紒锛�", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
+ throw new CoolException("failed to save segment [" + loadSeg.getGroupId() + "-" + loadSeg.getSerial() + "] failed");
+ }
+
+ // place segment
+ TaskTypeType taskType = Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()));
+ TaskPosDto.PosType posType;
+ Code endCode;
+ switch (taskType) {
+ case STA_TO_LOC:
+ posType = TaskPosDto.PosType.DEST_LOC;
+ Loc destLoc = locService.getById(task.getDestLoc());
+ endCode = codeService.getCacheById(destLoc.getCode());
+ break;
+ case STA_TO_STA:
+ posType = TaskPosDto.PosType.DEST_STA;
+ Sta destSta = staService.getById(task.getDestSta());
+ endCode = codeService.getCacheById(destSta.getCode());
+ break;
+ default:
+ throw new BusinessException("[Agv:" + agvNo + "] allocate inbound only supports STA_TO_LOC/STA_TO_STA");
+ }
+
+ // calc placeSeg serial, through code position
+ List<Segment> destSegList = segmentService.list(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getTravelId, currSeg.getTravelId())
+ .ne(Segment::getState, SegmentStateType.FINISH.toString())
+ .in(Segment::getPosType,
+ TaskPosDto.PosType.DEST_LOC.toString(),
+ TaskPosDto.PosType.DEST_STA.toString())
+ .orderByAsc(Segment::getSerial)
+ );
+
+ // build destPosList and sort
+ List<TaskPosDto> destPosList = new ArrayList<>();
+ for (Segment destSeg : destSegList) {
+ Code code = codeService.getCacheById(destSeg.getEndNode());
+ if (code == null) continue;
+
+ TaskPosDto dto = new TaskPosDto(destSeg.getTaskId(), new Double[]{code.getX(), code.getY()}, TaskPosDto.PosType.DEST_LOC);
+ dto.setCodeId(code.getId());
+ dto.setSegId(destSeg.getId());
+ destPosList.add(dto);
+ }
+ TaskPosDto newDto = new TaskPosDto(task.getId(), new Double[]{endCode.getX(), endCode.getY()}, TaskPosDto.PosType.DEST_LOC);
+ newDto.setCodeId(endCode.getId());
+ destPosList.add(newDto);
+
+ // sort - reference to buildMarjoTask
+ final String sameGroupXy = configService.getVal("sameGroupXy", String.class);
+
+ // DEST-only sort
+ destPosList.sort((a, b) -> {
+
+ // 涓昏酱
+ double aFirst = a.getFirstWeight(sameGroupXy);
+ double bFirst = b.getFirstWeight(sameGroupXy);
+ int c = Double.compare(aFirst, bFirst);
+ if (c != 0) return c;
+
+ // 鍓酱
+ double aSecond = a.getSecondWeight(sameGroupXy);
+ double bSecond = b.getSecondWeight(sameGroupXy);
+ c = Double.compare(aSecond, bSecond);
+ if (c != 0) return c;
+
+ return Long.compare(a.getTaskId(), b.getTaskId());
+ });
+
+ // get placeSeg serial
+ int placeSegSerial;
+ // query placeSeg idx
+ int idx = -1;
+ for (int i = 0; i < destPosList.size(); i++) {
+ if (Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())
+ && Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())) {
+ idx = i;
+ break;
+ }
+ }
+ if (idx < 0) {
+ throw new BusinessException("failed to locate new destination in sorted list");
+ }
+
+ // 鍚庣户鐐�
+ if (idx + 1 == destPosList.size()) {
+ placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
+ } else {
+ TaskPosDto afterTaskPos = destPosList.get(idx + 1);
+ Segment afterSeg = destSegList.stream()
+ .filter(destSeg -> Objects.equals(destSeg.getId(), afterTaskPos.getSegId()))
+ .findFirst()
+ .orElse(null);
+ if (null == afterSeg) {
+ placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
+ } else {
+ placeSegSerial = afterSeg.getSerial();
+ }
+ }
+// placeSegSerial = Math.max(placeSegSerial, currSeg.getSerial() + 1);
+
+ // shift serial after
+ segmentService.update(new LambdaUpdateWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getTravelId, currSeg.getTravelId())
+ .ge(Segment::getSerial, placeSegSerial)
+ .ne(Segment::getState, SegmentStateType.FINISH.toString())
+ .setSql("serial = serial + 1")
+ .set(Segment::getUpdateTime, now)
+ );
+
+ // save place segment
+ Segment placeSeg = new Segment();
+ placeSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ placeSeg.setTravelId(currSeg.getTravelId());
+ placeSeg.setAgvId(agvId);
+ placeSeg.setTaskId(task.getId());
+ placeSeg.setSerial(placeSegSerial);
+ placeSeg.setEndNode(endCode.getId());
+ placeSeg.setPosType(posType.toString());
+ placeSeg.setState(SegmentStateType.INIT.toString());
+ placeSeg.setBackpack(backpackLev);
+ placeSeg.setCreateTime(now);
+ placeSeg.setUpdateTime(now);
+ if (!segmentService.save(placeSeg)) {
+// log.error("Segment [{}] failed to save 锛侊紒锛�", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
+ throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
+ }
+
+ // update task
+ task.setAgvId(agvId);
+ task.setTaskSts(TaskStsType.ASSIGN.val());
+ task.setIoTime(now);
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+ }
+ // update reserve
+ staReserveService.allocateCallBack(sta, task, agvId);
+ }
+ // normal
+ , (task, agvNo, sta) -> {
+ Long agvId = agvService.getAgvId(agvNo);
+ // update task
+ task.setAgvId(agvId);
+ task.setTaskSts(TaskStsType.WAITING.val());
+ task.setIoTime(now);
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+ }
+ // update reserve
+ staReserveService.allocateCallBack(sta, task, agvId);
+ });
+// if (Cools.isEmpty(agvNo)) {
+//// log.warn("Task[{}] has an issue锛� because it failed to check out agv which is idle...", task.getSeqNum());
+// continue;
+// }
+// task.setAgvId(agvService.getAgvId(agvNo));
+// 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);
@@ -270,7 +511,7 @@
return o2.getPriority() - o1.getPriority();
}
});
- Integer backpack = agvService.getBackpack(agv);
+ Integer backpack = agvService.getBackpack(agvId);
if (taskList.size() > backpack) {
taskList = taskList.subList(0, backpack);
}
@@ -286,7 +527,7 @@
* 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) {
@@ -435,6 +676,8 @@
travel.setTaskContent(JSON.toJSONString(list));
travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList())));
travel.setState(TravelStateType.RUNNING.toString());
+ travel.setCreateTime(now);
+ travel.setUpdateTime(now);
if (!travelService.save(travel)) {
throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
}
@@ -458,6 +701,8 @@
segment.setPosType(taskPosDto.getPosType().toString());
segment.setBackpack(backpackType.lev);
segment.setState(SegmentStateType.INIT.toString());
+ segment.setCreateTime(now);
+ segment.setUpdateTime(now);
segmentList.add(segment);
}
}
@@ -659,6 +904,8 @@
AgvModel agvModel = agvModelService.getByAgvId(agvId);
Double workDirection = agvModel.getWorkDirection();
+ boolean backupAction = null != agvModel.getBackupAction() && agvModel.getBackupActionBool();
+ boolean needUndocking = null != agvModel.getNeedUndocking() && agvModel.getNeedUndockingBool();
AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
assert agvSpeedType != null;
@@ -707,7 +954,7 @@
if (!lastCode.getCornerBool()) {
// 濡傛灉鏄綔涓氭柟鍚戯紝浣嗘槸灏忚溅鍦ㄥ贩閬撳唴鏂瑰悜閿欒锛屽垯鍋滄
if (reverse && !lastDirection.equals(nextDirection)) {
-// throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
}
// 濡傛灉涓嶆槸浣滀笟鏂瑰悜锛屽垽鏂槸鍚︾浉鍙嶆柟鍚戯紝濡傛灉鍙嶆柟鍚戝垯鍊掗��琛岃蛋
if (nextDirection.equals((lastDirection + 180) % 360)) {
@@ -729,7 +976,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -753,7 +1000,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -804,7 +1051,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -821,34 +1068,19 @@
// 浣滀笟鐐瑰姩浣�
AgvDirectionType agvDirectionType;
+ Double staWorkDirection;
AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
case ORI_LOC:
assert backpackType != null;
// 妫�楠屾柟鍚�
if (!lastDirection.equals(workDirection)) {
- // turn
- actionList.add(new Action(
- null, // 缂栧彿
- task.getBusId(), // 鎬荤嚎
- task.getId(), // 浠诲姟
- null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
- ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
- ));
- lastDirection = workDirection;
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
}
// 璐ф灦鍙栬揣
Loc oriLoc = locService.getById(task.getOriLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirection(oriLoc, lastCode);
+ agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -864,66 +1096,54 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- // 鏆傚瓨鐐规斁璐�
- actionList.add(new Action(
- null, // 缂栧彿
- task.getBusId(), // 鎬荤嚎
- task.getId(), // 浠诲姟
- null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
- ActionTypeType.ReadyReleaseToAgvSite.desc, // 鍚嶇О
- (double) backpackType.lev, // 灞炴�у��
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.ReadyReleaseToAgvSite.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
- ));
- break;
- case DEST_LOC:
- assert backpackType != null;
- // 妫�楠屾柟鍚�
- if (!lastDirection.equals(workDirection)) {
- // turn
+ // 鑳岀瘬鏀捐揣
+ if (backupAction) {
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
task.getId(), // 浠诲姟
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
- ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ ActionTypeType.ReadyReleaseToAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyReleaseToAgvSite.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- lastDirection = workDirection;
}
- // 鏆傚瓨鐐瑰彇璐ц揣
- actionList.add(new Action(
- null, // 缂栧彿
- task.getBusId(), // 鎬荤嚎
- task.getId(), // 浠诲姟
- null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
- ActionTypeType.ReadyTakeFromAgvSite.desc, // 鍚嶇О
- (double) backpackType.lev, // 灞炴�у��
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.ReadyTakeFromAgvSite.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
- ));
+ break;
+ case DEST_LOC:
+ assert backpackType != null;
+ // 妫�楠屾柟鍚�
+ if (!lastDirection.equals(workDirection)) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // 鑳岀瘬鍙栬揣
+ if (backupAction) {
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyTakeFromAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyTakeFromAgvSite.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ }
// 璐ф灦鏀捐揣
Loc destLoc = locService.getById(task.getDestLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirection(destLoc, lastCode);
+ agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -941,8 +1161,132 @@
));
break;
case ORI_STA:
+ // 绔欑偣鍙栬揣
+ Sta oriSta = staService.getById(task.getOriSta());
+ Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
+ // 妫�楠屾柟鍚�
+ if (!lastDirection.equals(oriStaWorkDirection)) {
+ if (!lastCode.getCornerBool()) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // turn
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ lastDirection = oriStaWorkDirection;
+ }
+ // 璁＄畻璐у弶宸ヤ綔鏂瑰悜
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyTakeFromConveyorSta.desc, // 鍚嶇О
+ staWorkDirection, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(oriSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyTakeFromConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ // 鑳岀瘬鏀捐揣
+ if (backupAction) {
+ assert backpackType != null;
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyReleaseToAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyReleaseToAgvSite.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ }
break;
case DEST_STA:
+ // 绔欑偣鏀捐揣
+ Sta destSta = staService.getById(task.getDestSta());
+ Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
+ // 妫�楠屾柟鍚�
+ if (!lastDirection.equals(destStaWorkDirection)) {
+ if (!lastCode.getCornerBool()) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // turn
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ lastDirection = destStaWorkDirection;
+ }
+ // 鑳岀瘬鍙栬揣
+ if (backupAction) {
+ assert backpackType != null;
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyTakeFromAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyTakeFromAgvSite.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ }
+ // 璁＄畻璐у弶宸ヤ綔鏂瑰悜
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
+ staWorkDirection, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(destSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyReleaseToConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
break;
case TO_CHARGE:
// 妫�楠屾柟鍚�
@@ -956,7 +1300,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -985,7 +1329,24 @@
));
break;
case TO_STANDBY:
-// FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
+ // load lift
+// actionList.add(new Action(
+// null, // 缂栧彿
+// null, // 鎬荤嚎
+// task.getId(), // 浠诲姟
+// null, // 鍔ㄤ綔鍙�
+// null, // 浼樺厛绾�
+// ActionTypeType.LoadPlatformLift.desc, // 鍚嶇О
+// null, // 灞炴�у��
+// lastCode.getData(), // 鍦伴潰鐮�
+// String.valueOf(0), // 鍔ㄤ綔鍙傛暟
+// ActionTypeType.LoadPlatformLift.val(), // 鍔ㄤ綔绫诲瀷
+// actionPrepareSts, // 鍔ㄤ綔杩涘害
+// agvId, // AGV
+// now // 宸ヤ綔鏃堕棿
+// ));
+ // turn
+// FuncSta standByFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.STANDBY.toString());
// Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
// if (!lastDirection.equals(standByDirection)) {
// actionList.add(new Action(
@@ -1014,6 +1375,27 @@
}
+ // 濡傛灉鍏呯數涓紝鍒欏厛鏂紑鍏呯數
+ if (needUndocking && agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ String undockingCode = Cools.isEmpty(actionList) ? lastCode.getData() : actionList.get(0).getCode();
+ // undocking charge
+ actionList.add(0, new Action(
+ null, // 缂栧彿
+ null, // 鎬荤嚎
+ null, // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.UndockingCharge.desc, // 鍚嶇О
+ null, // 灞炴�у��
+ undockingCode, // 鍦伴潰鐮�
+ null, // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.UndockingCharge.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ }
+
// finish
actionList.add(new Action(
null, // 缂栧彿
@@ -1031,8 +1413,42 @@
now // 宸ヤ綔鏃堕棿
));
- List<Action> newActionList = actionSorter.optimizeSort(actionList);
String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);
+
+ // update segment
+ for (Segment item : segmentList) {
+ LambdaUpdateWrapper<Segment> uw = new LambdaUpdateWrapper<Segment>()
+ .eq(Segment::getId, item.getId())
+ .eq(Segment::getState, item.getState())
+ .set(Segment::getGroupId, groupId)
+ .set(Segment::getState, SegmentStateType.RUNNING.toString())
+ .set(Segment::getStartTime, now)
+ .set(Segment::getUpdateTime, now);
+ if (algoStartTime != null) {
+ uw.set(Segment::getAlgoTime, (int) (now.getTime() - algoStartTime.getTime()));
+ }
+ if (!segmentService.update(uw)) {
+ // segment 鍘熷瓙鎬т繚璇�
+ throw new CoolException("鏇存柊Segment澶辫触: segmentId=" + item.getId() + " state not WAITING");
+ }
+ }
+
+ // update segment
+// for (Segment item : segmentList) {
+// item.setGroupId(groupId);
+// item.setState(SegmentStateType.RUNNING.toString());
+// item.setStartTime(now);
+// item.setUpdateTime(now);
+// if (null != algoStartTime) {
+// item.setAlgoTime((int) (now.getTime() - algoStartTime.getTime()));
+// }
+// if (!segmentService.updateById(item)) {
+// throw new CoolException("鏇存柊Segment澶辫触");
+// }
+// }
+
+ // optimize action list, must have backpack
+ List<Action> newActionList = backupAction ? actionSorter.optimizeSort(actionList) : actionList;
// save action
int i = newActionList.size();
@@ -1044,19 +1460,6 @@
}
if (!actionService.saveBatch(newActionList)) {
throw new BusinessException("group[" + groupId + "] 鍔ㄤ綔淇濆瓨澶辫触");
- }
-
- // 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("鏇存柊Segment澶辫触");
- }
}
log.info("{}鍙稟gv鍔ㄤ綔缁勮瀹屾垚锛屾寚浠ゆ暟閲忥細{}", agvNo, newActionList.size());
@@ -1086,6 +1489,13 @@
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);
@@ -1112,10 +1522,8 @@
}
}
- String agvNo = agvService.getAgvNo(actionList.get(0).getAgvId());
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)
@@ -1149,6 +1557,13 @@
.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())
@@ -1158,6 +1573,20 @@
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 LoadPlatformLift:
+ agvAction.add(new AgvActionItem<>(LoadPlatformLift.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())))
@@ -1177,6 +1606,11 @@
break;
case DockingCharge:
agvAction.add(new AgvActionItem<>(DockingChargeAction.class)
+ .setQrCode(action.getCode())
+ );
+ break;
+ case UndockingCharge:
+ agvAction.add(new AgvActionItem<>(UndockingChargeAction.class)
.setQrCode(action.getCode())
);
break;
@@ -1304,6 +1738,86 @@
}
}
+ // 鍙栨斁璐ц姹傚寘
+ if (msgBody instanceof AGV_06_UP) {
+ AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;
+ log.info("Agv [{}] 鍙栨斁璐ц姹傚寘 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));
+
+ boolean success = false;
+
+ try {
+ Code code = codeService.getCacheByData(agv_06_up.getQrCode());
+
+ // query current segment
+ Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
+ if (null == currSeg) {
+ log.error("failed to find curr segment [{}]", agv.getUuid());
+ } else {
+
+ // query current task
+ Task currTask = taskService.getById(currSeg.getTaskId());
+ if (currTask == null || !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {
+
+ log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
+ } else {
+
+ Sta sta;
+ TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
+ assert null != posType;
+ switch (posType) {
+ case ORI_LOC:
+ case DEST_LOC:
+ success = true;
+ break;
+ case ORI_STA:
+ // load from sta
+ sta = staService.getById(currTask.getOriSta());
+ // reserve to be waiting
+ if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
+ break;
+ }
+ // convey plc valid
+ if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT)) {
+ // reserve rollback
+ staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
+ break;
+ }
+ success = true;
+ break;
+ case DEST_STA:
+ // place to sta
+ sta = staService.getById(currTask.getDestSta());
+ // reserve to be waiting
+ if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN)) {
+ break;
+ }
+ // convey plc valid
+ if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.IN)) {
+ // reserve rollback
+ staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
+ break;
+ }
+ success = true;
+ break;
+ default:
+ log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
+ break;
+ }
+ }
+ }
+
+ } catch (Exception e) {
+ log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
+ }
+
+ AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
+ agv_06_down.setSerialNo(agv_06_up.getSerialNo());
+ agv_06_down.setActionCode(agv_06_up.getActionCode());
+ agv_06_down.setResult(success ? 1 : 0);
+
+ redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
+ }
+
// 鏂欎粨淇℃伅鍖�
if (msgBody instanceof AGV_70_UP) {
AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;
@@ -1351,14 +1865,13 @@
}
if (taskComplete) {
- locService.taskCallBack(task);
-
task.setTaskSts(TaskStsType.COMPLETE.val());
task.setEndTime(now);
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
log.error("Task [{}] 鏇存柊澶辫触 锛侊紒锛�", task.getSeqNum());
} else {
+ taskService.maintainLocAndSta(task);
log.info("Task [{}] 浣滀笟瀹屾瘯 ==========>> ", task.getSeqNum());
}
@@ -1384,6 +1897,7 @@
// segment
for (Segment segment : segmentList) {
segment.setState(SegmentStateType.FINISH.toString());
+ segment.setEndTime(now);
segment.setUpdateTime(now);
if (!segmentService.updateById(segment)) {
log.error("Segment [{}] 鏇存柊澶辫触 锛侊紒锛�", segment.getGroupId() + " - " + segment.getSerial());
--
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