From 3a6155c8c3464152e0bc6267059a045c0d102c49 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 15 十二月 2025 08:55:56 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 193 +++++++++++++++++++++++++++++++++++++-----------
1 files changed, 149 insertions(+), 44 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 87ff4d9..edcc01f 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;
/**
@@ -132,7 +136,8 @@
if (!busService.save(bus)) {
throw new BusinessException("Internal Server Error!");
}
- Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, false);
+ Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, true);
+ Integer locStaTaskNum = configService.getVal("LOC_STA_TASK_NUM", Integer.class, 2);
// 淇濆瓨浠诲姟
@@ -182,8 +187,15 @@
}
destSta = staService.getById(task.getDestSta());
- if (locStaStatusCheck && !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");
+ }
+ } else {
+ List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
+ if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " task more");
+ }
}
destSta.setStaSts(StaStsType.READY_RELEASE.val());
destSta.setUpdateTime(now);
@@ -193,8 +205,10 @@
break;
case STA_TO_LOC:
oriSta = staService.getById(task.getOriSta());
- if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ if (oriSta.getStaTypeIsCheck() != 1) {
+ if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ }
}
oriSta.setStaSts(StaStsType.READY_TAKE.val());
oriSta.setUpdateTime(now);
@@ -214,8 +228,10 @@
break;
case STA_TO_STA:
oriSta = staService.getById(task.getOriSta());
- if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ if (oriSta.getStaTypeIsCheck() != 1) {
+ if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ }
}
oriSta.setStaSts(StaStsType.READY_TAKE.val());
oriSta.setUpdateTime(now);
@@ -224,8 +240,15 @@
}
destSta = staService.getById(task.getDestSta());
- if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
- throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
+ if (destSta.getStaTypeIsCheck() != 1) {
+ if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
+ }
+ } else {
+ List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
+ if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " task more");
+ }
}
destSta.setStaSts(StaStsType.READY_RELEASE.val());
destSta.setUpdateTime(now);
@@ -279,7 +302,7 @@
if (!taskService.updateById(task)) {
throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
}
- report(task, TaskReportStsType.START);
+ report(task, null, TaskReportStsType.START);
}
} catch (Exception e) {
log.error("mainService.infuseAgvForTask", e);
@@ -757,6 +780,7 @@
continue;
}
+
String next = pathListPart.get(i);
Code nextCode = codeService.getCacheByData(next);
@@ -830,6 +854,23 @@
lastDirection = nextDirection;
}
+
+ 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.RunToWaitHeight.desc, // 鍚嶇О
+ 1D, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ "350", // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.RunToWaitHeight.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+
// run
ActionTypeType actionType = ActionTypeType.StraightAheadTurnable;
@@ -1017,7 +1058,9 @@
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;
@@ -1060,7 +1103,7 @@
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;
}
@@ -1080,6 +1123,7 @@
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);
@@ -1096,7 +1140,9 @@
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
+ now, // 宸ヤ綔鏃堕棿
+ destSta.getStaTypeIsCheck() == 1 ? 2 : 0,
+ destSta.getStaNo()
));
break;
case TO_CHARGE:
@@ -1264,7 +1310,7 @@
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())
@@ -1346,6 +1392,9 @@
.setQrCode(action.getCode())
.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
);
+ if (!Cools.isEmpty(action.getAskType()) && (action.getAskType() == 1 || action.getAskType() == 2)) {
+ flag = askSta(action.getAskType(), action.getAskSta());
+ }
break;
case ReadyTakeFromAgvSite:
agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
@@ -1367,6 +1416,9 @@
.setQrCode(action.getCode())
.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
);
+ if (!Cools.isEmpty(action.getAskType()) && (action.getAskType() == 1 || action.getAskType() == 2)) {
+ flag = askSta(action.getAskType(), action.getAskSta());
+ }
break;
case ReadyReleaseToAgvSite:
agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
@@ -1397,7 +1449,10 @@
}
}
-
+ 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());
@@ -1465,11 +1520,11 @@
// }
// }
- List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
- for (Long taskId : taskIds) {
- Task task = taskService.getById(taskId);
- report(task, TaskReportStsType.END);
- }
+// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+// for (Long taskId : taskIds) {
+// Task task = taskService.getById(taskId);
+// report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
+// }
}
// 鍑哄簱鍙栬揣
@@ -1503,31 +1558,31 @@
// }
// }
// }
- List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
- for (Long taskId : taskIds) {
- Task task = taskService.getById(taskId);
- 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);
+// }
}
//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, TaskReportStsType.OTBIN);
- }
- }
+// 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, TaskReportStsType.END);
- }
- }
+// 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);
+// }
+// }
// 璺緞瀹屾垚 || 鍏呯數瀹屾垚
if (agv_11_up.getCompleteType().equals(AgvCompleteType.ENTIRE_PATH_COMPLETE)
@@ -1567,6 +1622,8 @@
// task
for (Segment segment : segmentList) {
boolean taskComplete = false;
+ boolean otbin = false;
+
Task task = taskService.getById(segment.getTaskId());
assert null != task;
@@ -1577,6 +1634,7 @@
switch (Objects.requireNonNull(posType)) {
case ORI_STA:
case ORI_LOC:
+ otbin = true;
break;
case DEST_STA:
case DEST_LOC:
@@ -1597,14 +1655,24 @@
break;
}
+ if (otbin) {
+ locService.taskCallBackOtbin(task);
+ report(task, null, TaskReportStsType.OTBIN);
+ }
+
+
if (taskComplete) {
- locService.taskCallBack(task);
+ locService.taskCallBackEnd(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());
+ }
+ report(task, null, TaskReportStsType.END);
+ if (task.getSeqNum() != null && task.getSeqNum().contains("SSX-CK")) {
+ report(task, "1001", TaskReportStsType.COMPLETED);
}
}
}
@@ -1641,28 +1709,65 @@
/**
* 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, TaskReportStsType taskReportStsType) {
+ 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$()).eq(TaskReport::getTaskSts, taskReportStsType.status));
if (!Cools.isEmpty(list)) {
- log.info("TaskReport [{}] 宸查噸澶嶏紝涓嶅啀鎻掑叆 ==========>> ", JSON.toJSONString(task));
+ log.info("TaskReport [{},{}] 宸查噸澶嶏紝涓嶅啀鎻掑叆 ==========>> ", taskReportStsType, JSON.toJSONString(task));
return;
}
TaskReport taskReport = new TaskReport();
taskReport.setAgvId(task.getAgvId());
+ taskReport.setAgvNo(task.getAgvId$());
taskReport.setBusNo(task.getBusId$());
taskReport.setCreateTime(new Date());
+ taskReport.setCompleted(0);
+ taskReport.setQrCode(qrCode);
taskReport.setReportTimes(0);
taskReport.setTaskSts(taskReportStsType.status);
+ taskReport.setEventType(taskReportStsType.name);
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("WCS_URL", String.class);
+ String wmsPath = configService.getVal("WMS_STA", String.class);
+ if (Cools.isEmpty(wmsPath) || Cools.isEmpty(wmsUrl)) {
+ return false;
+ }
+ 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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