From 30c64524c2253a397cc787c1daeae9b491259240 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期三, 31 十二月 2025 15:17:17 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 91 ++++++++++++++++++++++++++++++++++++++-------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java | 6 +-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java | 1
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvAreaDispatcher.java | 4 +-
6 files changed, 85 insertions(+), 21 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
index c986364..230a977 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
@@ -127,6 +127,7 @@
}
} catch (Exception e) {
+ // todo test TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
log.error("KernelScheduler.trafficCalcThread fail", e);
}
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvAreaDispatcher.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvAreaDispatcher.java
index 5ddf526..d091a78 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvAreaDispatcher.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvAreaDispatcher.java
@@ -12,7 +12,7 @@
import org.springframework.stereotype.Service;
import javax.annotation.PostConstruct;
-import java.util.Collections;
+import java.util.ArrayList;
import java.util.List;
@Slf4j
@@ -61,7 +61,7 @@
public List<Long> getAgvIdsByCode(String code) {
if (Cools.isEmpty(code)) {
- return Collections.emptyList();
+ return new ArrayList<>();
}
List<Long> areaIds = areaGovernService.queryAreas(code);
List<Long> agvIds = areaAgvService.queryAgvIdsByAreaIds(areaIds);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java
index fc70550..2ca64dd 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java
@@ -139,7 +139,7 @@
// checkout list of code by area ids
public List<String> queryCodes(List<Long> areaIds) {
if (Cools.isEmpty(areaIds)) {
- return Collections.emptyList();
+ return new ArrayList<>();
}
Set<String> codeList = new HashSet<>();
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 33d4e20..849bdcd 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
@@ -2,6 +2,7 @@
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;
@@ -267,9 +268,53 @@
);
// load segment
Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
+ 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());
+ }
+
+ // 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());
+ if (!segmentService.save(loadSeg)) {
+ log.error("Segment [{}] failed to save 锛侊紒锛�", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
+ }
// place segment
+ TaskTypeType taskType = Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()));
+ TaskPosDto.PosType posType = null;
+ switch (taskType) {
+ case STA_TO_LOC:
+ posType = TaskPosDto.PosType.DEST_LOC;
+ break;
+ case STA_TO_STA:
+ posType = TaskPosDto.PosType.DEST_STA;
+ break;
+ default:
+ throw new BusinessException("[Agv: " + agvNo + "]allocate inbound failed to find travel");
+ }
+
+ 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(currSeg.getSerial() - 1);
+ placeSeg.setEndNode(sta.getCode());
+ placeSeg.setPosType(posType.toString());
+ placeSeg.setState(SegmentStateType.INIT.toString());
+ if (!segmentService.save(placeSeg)) {
+ log.error("Segment [{}] failed to save 锛侊紒锛�", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
+ }
task.setAgvId(agvId);
task.setTaskSts(TaskStsType.ASSIGN.val());
@@ -1208,6 +1253,38 @@
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");
+// }
+// }
+
// save action
int i = newActionList.size();
for (Action action : newActionList) {
@@ -1218,20 +1295,6 @@
}
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.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");
- }
}
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());
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 02e8e03..e9690a7 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -247,7 +247,7 @@
insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
insertSeg.setState(SegmentStateType.WAITING.toString());
if (!segmentService.save(insertSeg)) {
- log.error("Segment [{}] failed to save 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
+ log.error("Segment [{}] failed to save 锛侊紒锛�", insertSeg.getTravelId() + " - " + insertSeg.getSerial());
}
segmentList.add(insertSeg);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java
index 680ffde..3c32331 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java
@@ -8,7 +8,7 @@
import com.zy.acs.manager.manager.service.AreaAgvService;
import org.springframework.stereotype.Service;
-import java.util.Collections;
+import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
@@ -18,7 +18,7 @@
@Override
public List<Long> queryAgvIdsByAreaIds(List<Long> areaIds) {
if (Cools.isEmpty(areaIds)) {
- return Collections.emptyList();
+ return new ArrayList<>();
}
return this.list(new LambdaQueryWrapper<AreaAgv>().in(AreaAgv::getAreaId, areaIds).select(AreaAgv::getAgvId))
.stream().map(AreaAgv::getAgvId).collect(Collectors.toList());
@@ -27,7 +27,7 @@
@Override
public List<Long> queryAreaIdsByAgvId(Long agvId) {
if (agvId == null) {
- return Collections.emptyList();
+ return new ArrayList<>();
}
return this.list(new LambdaQueryWrapper<AreaAgv>().eq(AreaAgv::getAgvId, agvId).select(AreaAgv::getAreaId))
.stream().map(AreaAgv::getAreaId).collect(Collectors.toList());
--
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