From 3a49654f51096d4f9f95f4a5e8198e168e38a0c5 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期六, 16 八月 2025 08:34:13 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 272 +++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 186 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 0370dc5..f3acf60 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
@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
@@ -26,6 +27,7 @@
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.core.utils.HttpHandler;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
@@ -40,7 +42,9 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
+import java.io.IOException;
import java.util.*;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
/**
@@ -132,6 +136,8 @@
if (!busService.save(bus)) {
throw new BusinessException("Internal Server Error!");
}
+ Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, true);
+
// 淇濆瓨浠诲姟
for (Task task : taskList) {
@@ -149,7 +155,7 @@
switch (TaskTypeType.get(task.getTaskTypeEl())) {
case LOC_TO_LOC:
oriLoc = locService.getById(task.getOriLoc());
- if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
+ if (locStaStatusCheck && !oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
}
oriLoc.setLocSts(LocStsType.PAKOUT.val());
@@ -159,7 +165,7 @@
}
destLoc = locService.getById(task.getDestLoc());
- if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ if (locStaStatusCheck && !destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
}
destLoc.setLocSts(LocStsType.PAKIN.val());
@@ -170,7 +176,7 @@
break;
case LOC_TO_STA:
oriLoc = locService.getById(task.getOriLoc());
- if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
+ if (locStaStatusCheck && !oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
}
oriLoc.setLocSts(LocStsType.PAKOUT.val());
@@ -180,8 +186,10 @@
}
destSta = staService.getById(task.getDestSta());
- if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
- throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
+ if (destSta.getStaTypeIsCheck() != 1) {
+ if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
+ }
}
destSta.setStaSts(StaStsType.READY_RELEASE.val());
destSta.setUpdateTime(now);
@@ -191,8 +199,10 @@
break;
case STA_TO_LOC:
oriSta = staService.getById(task.getOriSta());
- if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ if (oriSta.getStaTypeIsCheck() != 1) {
+ if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ }
}
oriSta.setStaSts(StaStsType.READY_TAKE.val());
oriSta.setUpdateTime(now);
@@ -201,7 +211,7 @@
}
destLoc = locService.getById(task.getDestLoc());
- if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ if (locStaStatusCheck && !destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
}
destLoc.setLocSts(LocStsType.PAKIN.val());
@@ -212,8 +222,10 @@
break;
case STA_TO_STA:
oriSta = staService.getById(task.getOriSta());
- if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ if (oriSta.getStaTypeIsCheck() != 1) {
+ if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ }
}
oriSta.setStaSts(StaStsType.READY_TAKE.val());
oriSta.setUpdateTime(now);
@@ -222,8 +234,10 @@
}
destSta = staService.getById(task.getDestSta());
- if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
- throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
+ if (destSta.getStaTypeIsCheck() != 1) {
+ if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
+ }
}
destSta.setStaSts(StaStsType.READY_RELEASE.val());
destSta.setUpdateTime(now);
@@ -277,6 +291,7 @@
if (!taskService.updateById(task)) {
throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
}
+ report(task, null, TaskReportStsType.START);
}
} catch (Exception e) {
log.error("mainService.infuseAgvForTask", e);
@@ -1014,7 +1029,9 @@
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
+ now, // 宸ヤ綔鏃堕棿
+ oriSta.getStaTypeIsCheck() == 1 ? 1 : 0,
+ oriSta.getStaNo()
));
// 鏆傚瓨鐐规斁璐�
assert backpackType != null;
@@ -1057,7 +1074,7 @@
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
+ now // 宸ヤ綔鏃堕棿
));
lastDirection = destStaWorkDirection;
}
@@ -1076,7 +1093,9 @@
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
+ now, // 宸ヤ綔鏃堕棿
+ destSta.getStaTypeIsCheck() == 1 ? 2 : 0,
+ destSta.getStaNo()
));
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
@@ -1164,7 +1183,7 @@
runToWaitHeight = "800";
}
Double runToWaitHeightValue = configService.getVal("RunToWaitHeightValue", Double.class);
- if (Cools.isEmpty(runToWaitHeight) || runToWaitHeightValue == 0) {
+ if (runToWaitHeightValue == 0) {
runToWaitHeightValue = 1D;
}
// 淇绌烘寚閽堝紓甯革細妫�鏌astCode鏄惁涓簄ull
@@ -1256,11 +1275,12 @@
}
}
+
@Transactional
public void publishAction(String actionGroupId) {
try {
Date now = new Date();
-
+ boolean flag = true;
// action
List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
.eq(Action::getGroupId, actionGroupId).eq(Action::getActionSts, ActionStsType.PREPARE.val())
@@ -1391,9 +1411,14 @@
default:
break;
}
-
+ if (!Cools.isEmpty(action.getAskType()) && (action.getAskType() == 1 || action.getAskType() == 2)) {
+ flag = askSta(action.getAskType(), action.getAskSta());
+ }
}
-
+ if (!flag) {
+ log.error("浠诲姟缁� [{}] 鍔ㄤ綔鎸囦护涓嬪彂澶辫触 ,鍚戣緭閫佺嚎璇㈤棶鎶ラ敊锛侊紒锛�", actionGroupId);
+ throw new CoolException("浠诲姟缁� [{" + actionGroupId + "}] 鍔ㄤ綔鎸囦护涓嬪彂澶辫触 锛侊紒锛�");
+ }
BaseResult<?> result = agvCmdService.executeAgvActionCmd(agvAction);
if (result.success()) {
log.info("浠诲姟缁� [{}] 鍔ㄤ綔鎸囦护宸蹭笅鍙� ===>> 鎸囦护鏁伴噺锛歿}", actionGroupId, actionList.size());
@@ -1432,32 +1457,39 @@
if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) {
WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
- Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
- if (null == loc) {
- log.warn("Agv [{}] 涓婃姤寰�璐ф灦鏀捐揣瀹屾垚鏃讹紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
- } else {
- List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
- for (Long taskId : taskIds) {
- Task task = taskService.getById(taskId);
- if (task.getDestLoc().equals(loc.getId())) {
+// Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
+// if (null == loc) {
+// log.warn("Agv [{}] 涓婃姤寰�璐ф灦鏀捐揣瀹屾垚鏃讹紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
+// } else {
+// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+// for (Long taskId : taskIds) {
+// Task task = taskService.getById(taskId);
+// if (task.getDestLoc().equals(loc.getId())) {
+//
+// Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
+// .eq(Action::getTaskId, task.getId())
+// .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
+// .eq(Action::getActionSts, ActionStsType.ISSUED.val())
+// );
+//
+// if (null != action) {
+// action.setActionSts(ActionStsType.FINISH.val());
+// action.setEndTime(now);
+// action.setUpdateTime(now);
+// if (!actionService.updateById(action)) {
+// log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
+// }
+// }
+// //鎻掑叆涓�鏉�
+// report(task, TaskReportStsType.END);
+// }
+// }
+// }
- Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
- .eq(Action::getTaskId, task.getId())
- .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
- .eq(Action::getActionSts, ActionStsType.ISSUED.val())
- );
-
- if (null != action) {
- action.setActionSts(ActionStsType.FINISH.val());
- action.setEndTime(now);
- action.setUpdateTime(now);
- if (!actionService.updateById(action)) {
- log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
- }
- }
-
- }
- }
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
}
}
@@ -1465,31 +1497,56 @@
if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_SHELVES_COMPLETE)) {
WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
- Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
- if (null == loc) {
- log.warn("Agv [{}] 涓婃姤浠庤揣鏋跺彇璐у畬鎴愶紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
- } else {
+// Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
+// if (null == loc) {
+// log.warn("Agv [{}] 涓婃姤浠庤揣鏋跺彇璐у畬鎴愶紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
+// } else {
+//
+// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+// for (Long taskId : taskIds) {
+// Task task = taskService.getById(taskId);
+// if (task.getOriLoc().equals(loc.getId())) {
+//
+// Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
+// .eq(Action::getTaskId, task.getId())
+// .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
+// .eq(Action::getActionSts, ActionStsType.ISSUED.val())
+// );
+// if (null != action) {
+// action.setActionSts(ActionStsType.FINISH.val());
+// action.setEndTime(now);
+// action.setUpdateTime(now);
+// if (!actionService.updateById(action)) {
+// log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
+// }
+// }
+// report(task, TaskReportStsType.OTBIN);
+// }
+// }
+// }
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
+ }
- List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
- for (Long taskId : taskIds) {
- Task task = taskService.getById(taskId);
- if (task.getOriLoc().equals(loc.getId())) {
-
- Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
- .eq(Action::getTaskId, task.getId())
- .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
- .eq(Action::getActionSts, ActionStsType.ISSUED.val())
- );
- if (null != action) {
- action.setActionSts(ActionStsType.FINISH.val());
- action.setEndTime(now);
- action.setUpdateTime(now);
- if (!actionService.updateById(action)) {
- log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
- }
- }
- }
- }
+ }
+ //浠庤緭閫佺嚎鍙栬揣瀹屾垚
+ if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE)) {
+ WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
+ }
+ }
+ //寰�杈撻�佺嚎鏀捐揣瀹屾垚
+ if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE)) {
+ WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
}
}
@@ -1519,6 +1576,7 @@
log.info("Agv [{}] 鏂欎粨淇℃伅鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
}
}
+
@Transactional
public void settleSegmentList(List<Segment> segmentList, String serialNo) {
@@ -1568,25 +1626,7 @@
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
log.error("Task [{}] 鏇存柊澶辫触 锛侊紒锛�", task.getSeqNum());
- } else {
- log.info("Task [{}] 浣滀笟瀹屾瘯 ==========>> ", task.getSeqNum());
- // TODO 鎻掑叆涓�鏉′笂鎶ヨ褰�
- TaskReport taskReport = new TaskReport();
- taskReport.setAgvId(task.getAgvId());
- taskReport.setBusNo(task.getBusId$());
- taskReport.setCreateTime(new Date());
- taskReport.setDestLoc(task.getDestLoc());
- taskReport.setDestSta(task.getDestSta());
- taskReport.setSeqNum(task.getSeqNum());
- taskReport.setTaskSts(task.getTaskSts());
- taskReport.setOriLoc(task.getOriLoc());
- taskReport.setOriSta(task.getOriSta());
- taskReport.setZpallet(task.getZpallet());
- if (!taskReportService.save(taskReport)) {
- log.info("TaskReport [{}] 鎻掑叆澶辫触 ==========>> ", JSON.toJSONString(taskReport));
- }
}
-
}
}
@@ -1619,4 +1659,64 @@
segmentService.processNext(segmentList);
}
+ /**
+ * 涓婃姤缁欎笂娓哥郴缁燂紝灏辨槸鎻掑叆涓�鏉℃暟鎹埌涓婃姤琛�
+ */
+ private void report(Task task, String qrCode, TaskReportStsType taskReportStsType) {
+ // TODO 鎻掑叆涓�鏉′笂鎶ヨ褰�
+ if (task.getBusId() == null) {
+ return;
+ }
+ List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>().eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$()).eq(TaskReport::getTaskSts, taskReportStsType.status));
+ if (!Cools.isEmpty(list)) {
+ log.info("TaskReport [{}] 宸查噸澶嶏紝涓嶅啀鎻掑叆 ==========>> ", JSON.toJSONString(task));
+ return;
+ }
+ TaskReport taskReport = new TaskReport();
+ taskReport.setAgvId(task.getAgvId());
+ taskReport.setBusNo(task.getBusId$());
+ taskReport.setCreateTime(new Date());
+ taskReport.setQrCode(qrCode);
+ taskReport.setReportTimes(0);
+ taskReport.setTaskSts(taskReportStsType.status);
+ taskReport.setSeqNum(task.getSeqNum());
+ taskReport.setZpallet(task.getZpallet());
+ if (!taskReportService.save(taskReport)) {
+ log.info("TaskReport [{}] 鎻掑叆澶辫触 ==========>> ", JSON.toJSONString(taskReport));
+ } else {
+ log.info("Task [{}] 鐘舵�佽褰曟彃鍏ユ暟鎹簱 ==========>> ", task.getSeqNum());
+ }
+ }
+
+ private boolean askSta(Integer askType, String askSta) {
+ log.info("鏉ヨ闂緭閫佺嚎浜嗭紝{}锛寋}", askType, askSta);
+ String wmsUrl = configService.getVal("WMS_URL", String.class);
+ String wmsPath = configService.getVal("WMS_STA", String.class);
+ if (Cools.isEmpty(wmsPath) || Cools.isEmpty(wmsUrl)) {
+ return true;
+ }
+ Integer time = configService.getVal("TIMEOUT", Integer.class, 5);
+ //Integer times = configService.getVal("REPORT_TIMES", Integer.class, 2);
+ Map<String, Object> data = new HashMap<>();
+ data.put("askType", askType);
+ data.put("askSta", askSta);
+ String response = null;
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath(wmsPath)
+ .setTimeout(time, TimeUnit.SECONDS)
+ .setJson(JSON.toJSONString(data))
+ .build()
+ .doPost();
+ log.info("杩斿洖鍙傛暟锛歿}", response);
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ return true;
+ }
+ } catch (IOException e) {
+ log.info("鎶ラ敊浜嗭紝{}", e);
+ }
+ return false;
+ }
}
--
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