From 233ff9e9e82c67ac33695b479fd31df6ffb77b22 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 02 十二月 2024 15:44:30 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 151 +++++++++++++++++++++----------------------------
1 files changed, 65 insertions(+), 86 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 783bb5d..45bdd19 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
@@ -15,7 +15,7 @@
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.utils.RedisSupport;
+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;
@@ -23,8 +23,8 @@
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.common.utils.CommonUtil;
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;
@@ -41,7 +41,6 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
-import java.util.concurrent.locks.ReentrantLock;
import java.util.stream.Collectors;
/**
@@ -50,10 +49,6 @@
@Slf4j
@Component("mainService")
public class MainService {
-
- private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- private static final int LOCK_TIMEOUT = 5;
- private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@Autowired
private BusService busService;
@@ -97,6 +92,8 @@
private TrafficService trafficService;
@Autowired
private AgvModelService agvModelService;
+ @Autowired
+ private LaneService laneService;
@SuppressWarnings("all")
@@ -224,7 +221,7 @@
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());
+// log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
continue;
}
task.setAgvId(agv.getId());
@@ -235,35 +232,6 @@
throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
}
}
-
-
- // ------------------------------------------
-
-
-//
-// Map<String, List<Long>> taskAllot = new HashMap<>();
-// for (Task task : taskList) {
-// Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
-// 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");
-// }
-//
-// if (taskAllot.containsKey(agv.getUuid())) {
-// taskAllot.get(agv.getUuid()).add(task.getId());
-// } else {
-// taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
-// }
-// }
} catch (Exception e) {
log.error("mainService.infuseAgvForTask", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -281,10 +249,15 @@
// valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
if (!agvService.judgeEnable(agv.getId(), true)) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
+ return;
+// throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
}
if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
throw new CoolException("AGV[" + agv.getUuid() + "]鍒嗛厤浠诲姟澶辫触锛屽凡瀛樺湪鎵ц浠诲姟...");
+ }
+ 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锛宐ecause already has the segment in running...");
}
// execute ----------------------------------------------------
@@ -378,13 +351,19 @@
/**
* 1.Map<String, List<TaskPosDto>> groups
*
- * key: 1000 + ORI_LOC
+ * key: 1000 + ORIGIN
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
- * key: 3000 + ORI_LOC
+ * key: 3000 + ORIGIN
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
- * key: 2000 + ORI_LOC
+ * 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),...]
*
* ......
@@ -402,6 +381,8 @@
* 瀵规墍鏈夊贩閬撹繘琛屾湁搴忔帓搴忥紝鍏堟槸閽堝List涓轰竴涓崟浣嶏紝瀵逛粬浠繘琛孎irstWeight鎺掑簭锛岀浉褰撲簬琛�1鐨刱ey鐨勬暟鍊艰繘琛屾湁搴忔帓搴�
* List<TaskPosDto>: task list on the same lane
* ArrayList<List<TaskPosDto>>: all the task list by one agv
+ *
+ * tip: ORI 鍜� DEST 姘歌繙涓嶄細瀛樺湪鍚屼竴涓� List
*/
ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
list.sort((o1, o2) -> {
@@ -418,45 +399,32 @@
Code currCode = codeService.getById(agvDetail.getRecentCode());
Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
- List<TaskPosDto> theFirstOne = list.get(0);
- List<TaskPosDto> theLastOne = list.get(list.size() - 1);
+ List<List<TaskPosDto>> pickGroups = new ArrayList<>();
+ List<List<TaskPosDto>> dropGroups = new ArrayList<>();
- if (list.size() == 1) {
- TaskPosDto head = theFirstOne.get(0);
- TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);
-
- int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
- int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());
-
- if (distanceByTail < distanceByHead) {
- Collections.reverse(theFirstOne);
- }
-
- } else {
- TaskPosDto headOfFirst = theFirstOne.get(0);
- TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);
-
- TaskPosDto headOfLast = theLastOne.get(0);
- TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);
-
- int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
- int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());
-
- int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
- int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());
-
- if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
- Collections.reverse(list);
-
- if (distanceByTailOfLast < distanceByHeadOfLast) {
- Collections.reverse(theLastOne);
- }
+ for (List<TaskPosDto> group : list) {
+ // Assume 涓�涓换鍔＄粍涓墍鏈塗askPosDto鐨凱osType.brief鐩稿悓
+ 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 {
- if (distanceByTailOfFirst < distanceByHeadOfFirst) {
- Collections.reverse(theFirstOne);
- }
+ // 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();
@@ -523,17 +491,19 @@
* 鍏呯數 鍥炲緟鏈轰綅浠诲姟
*/
@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(Agv agv, AgvDetail agvDetail, TaskTypeType taskType, String destination) {
+ public boolean buildMinorTask(Agv agv, TaskTypeType taskType, String destination, Jam jam) {
if (Cools.isEmpty(agv, taskType)) { return false; }
try {
- if (null == agvDetail) {
- agvDetail = agvDetailService.selectByAgvId(agv.getId());
- }
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (!agvService.judgeEnable(agv.getId())) {
return false;
}
if (!Cools.isEmpty(taskService.selectInSts(agv.getId(), TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign锛宐ecause already has the task in running...");
+ }
+ 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锛宐ecause already has the segment in running...");
}
Date now = new Date();
@@ -560,6 +530,9 @@
if (null == endCode) {
return false;
}
+ if (!allocateService.validCapacityOfLane(agv, endCode)) {
+ throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agv.getUuid() + "]!!!");
+ }
Task task = new Task();
task.setAgvId(agv.getId());
@@ -568,6 +541,11 @@
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());
@@ -583,7 +561,7 @@
travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
travel.setAgvId(agv.getId());
// travel.setTaskContent(JSON.toJSONString(list));
- travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
+ travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
travel.setState(TravelStateType.RUNNING.toString());
if (!travelService.save(travel)) {
throw new BusinessException("travel failed to save");
@@ -626,6 +604,11 @@
}
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());
+ }
}
}
@@ -645,10 +628,6 @@
default:
break;
}
-
-// if (taskType.equals(TaskTypeType.TO_STANDBY)) {
-// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid(), false);
-// }
return true;
} catch (Exception e) {
@@ -921,7 +900,7 @@
break;
case TO_CHARGE:
// 妫�楠屾柟鍚�
- FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
+ FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
if (!lastDirection.equals(chargeDirection)) {
actionList.add(new Action(
--
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