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 | 201 +++++++++++++++++++++++++++-----------------------
1 files changed, 109 insertions(+), 92 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 c35cd65..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
@@ -3,9 +3,6 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-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.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
import com.zy.acs.common.domain.AgvProtocol;
@@ -14,11 +11,20 @@
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.*;
+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.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;
@@ -30,12 +36,11 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
+import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.locks.ReentrantLock;
import java.util.stream.Collectors;
/**
@@ -44,9 +49,6 @@
@Slf4j
@Component("mainService")
public class MainService {
-
- private static final int LOCK_TIMEOUT = 5;
- private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@Autowired
private BusService busService;
@@ -90,6 +92,8 @@
private TrafficService trafficService;
@Autowired
private AgvModelService agvModelService;
+ @Autowired
+ private LaneService laneService;
@SuppressWarnings("all")
@@ -109,7 +113,7 @@
taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());
// 鏍￠獙
- List<Task> taskList = validService.validBusDto(taskDtoList);
+ List<Task> taskList = validService.validTaskDtoList(taskDtoList);
// 淇濆瓨鎬荤嚎
Date now = new Date();
@@ -217,7 +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());
@@ -228,35 +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();
@@ -265,23 +240,24 @@
/**
* 瑙ｆ瀽鍙栨斁璐ч泦鍚堜换鍔�,杩涜鏈�浼樼殑鎺掑垪缁勫悎椤哄簭 ( 杞﹁締姝ゆ椂鏄┖闂蹭笖闈欐鐨� )
+ * todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)}
*/
- @Transactional
- public synchronized void buildMajorTask(Long agvId, List<Task> taskList) {
- if (Cools.isEmpty(taskList)) { return; }
- boolean lockAcquired = false;
+ @Transactional(propagation = Propagation.REQUIRES_NEW)
+ public void buildMajorTask(Long agvId, List<Task> taskList) {
+ if (Cools.isEmpty(agvId, taskList)) { return; }
try {
- if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
- }
-
// 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 ----------------------------------------------------
@@ -290,7 +266,7 @@
taskList.sort(new Comparator<Task>() {
@Override
public int compare(Task o1, Task o2) {
- return o1.getPriority() - o2.getPriority();
+ return o2.getPriority() - o1.getPriority();
}
});
Integer backpack = agvService.getBackpack(agv);
@@ -298,6 +274,7 @@
taskList = taskList.subList(0, backpack);
}
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
/**
@@ -374,13 +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),...]
*
* ......
@@ -398,6 +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) -> {
@@ -409,6 +394,37 @@
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.getById(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 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 {
+ // 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();
@@ -465,33 +481,29 @@
} catch (Exception e) {
- log.error("mainService.mergeMajorTask[task]", e);
+ log.error("mainService.buildMajorTask[task]", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- } finally {
-
- if (lockAcquired) {
- this.lock.unlock();
- }
}
}
+
/**
* 鍏呯數 鍥炲緟鏈轰綅浠诲姟
*/
- @Transactional
- public synchronized boolean buildMinorTask(Agv agv, AgvDetail agvDetail, TaskTypeType taskType, String destination) {
+ @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, TaskTypeType taskType, String destination, Jam jam) {
if (Cools.isEmpty(agv, taskType)) { return false; }
- boolean lockAcquired = false;
try {
- if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
- }
-
- 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();
@@ -499,15 +511,13 @@
switch (taskType) {
case TO_CHARGE:
case TO_STANDBY:
- List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
- .eq(FuncSta::getType, FuncStaType.query(taskType).toString())
- .eq(FuncSta::getAgvId, agv.getId())
- .eq(FuncSta::getState, FuncStaStateType.IDLE.toString())
- .eq(FuncSta::getStatus, StatusType.ENABLE.val)
- );
- if (!Cools.isEmpty(funcStaList)) {
- FuncSta funcSta = funcStaList.get(0);
+ List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agv.getId());
+ if (!Cools.isEmpty(idleFunStaList)) {
+ FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
endCode = codeService.getById(funcSta.getCode());
+ }
+ if (null == endCode) {
+ log.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", agv.getUuid(), taskType.toString());
}
break;
case MOVE:
@@ -518,8 +528,10 @@
}
if (null == endCode) {
- log.error("{}鍙疯溅杈嗗缓绔嬪姛鑳戒换鍔″け璐ワ紝鏃犳硶妫�绱㈠埌鐩爣瀹氫綅锛孴askTypeType锛歿}", agv.getUuid(), taskType.toString());
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();
@@ -529,13 +541,18 @@
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() + "浠诲姟淇濆瓨澶辫触");
+ throw new BusinessException(task.getSeqNum() + " failed to save");
}
// generate travel
@@ -544,10 +561,10 @@
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("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("travel failed to save");
}
// generate segment
@@ -586,7 +603,12 @@
next.setState(SegmentStateType.WAITING.toString());
}
if (!segmentService.save(next)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("segment failed to save");
+ } else {
+ if (null != jam && i == 0) {
+ jam.setAvoSeg(next.getId());
+ jam.setAvoCode(endCode.getId());
+ }
}
}
@@ -598,7 +620,7 @@
destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
destFuncSta.setUpdateTime(now);
if (!funcStaService.updateById(destFuncSta)) {
- log.error("FuncSta [{}] 鏇存柊鐘舵�佸け璐� 锛侊紒锛�", destFuncSta.getName());
+ log.error("FuncSta [{}] failed to update 锛侊紒锛�", destFuncSta.getName());
}
break;
case MOVE:
@@ -613,11 +635,6 @@
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
return false;
- } finally {
-
- if (lockAcquired) {
- this.lock.unlock();
- }
}
}
@@ -646,13 +663,12 @@
List<Action> actionList = new ArrayList<>();
// start node
Code lastCode = codeService.getById(agvDetail.getRecentCode());
+ Double lastDirection = agvDetail.getAgvAngle();
if (!lastCode.getData().equals(pathList.get(0))) {
throw new CoolException("AGV[" + agv.getUuid() + "]瀹氫綅鍋忕Щ...");
}
- Double lastDirection = agvDetail.getAgvAngle();
boolean first = true;
-
for (Segment segment : segmentList) {
// 鍒嗘鎵�灞炵殑Task
@@ -884,7 +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(
@@ -1029,6 +1045,7 @@
for (Action action : actionList) {
action.setActionSts(ActionStsType.ISSUED.val());
action.setStartTime(now);
+ action.setIoTime(now);
action.setUpdateTime(now);
if (!actionService.updateById(action)) {
throw new BusinessException(action.getPriority() + " - " + action.getName() + "鍔ㄤ綔鏇存柊澶辫触");
@@ -1303,7 +1320,7 @@
}
// segment call back
- trafficService.callback(segmentList);
+ segmentService.processNext(segmentList);
log.info("Agv [{}] {}浣滀笟瀹屾瘯 ==========>> ", protocol.getAgvNo(), serialNo);
--
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