From 3ae3ce1721b1a98b17c2c602c99b7226cbd32894 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 12 六月 2025 14:03:06 +0800
Subject: [PATCH] 对接开发
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java | 1120 ++++++++++++++++++++++++++++++++++++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/HttpUtils.java | 33 +
zy-acs-framework/src/main/java/com/zy/acs/framework/common/R.java | 7
zy-acs-framework/src/main/java/com/zy/acs/framework/exception/CoolException.java | 13
zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/AllocateTask.java | 18
zy-acs-flow/src/map/tool.js | 5
zy-acs-manager/pom.xml | 7
zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/AllocateTaskResponse.java | 14
zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/Navigation.java | 44 +
zy-acs-manager/src/main/java/com/zy/acs/manager/common/exception/GlobalExceptionHandler.java | 7
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficZkdService.java | 112 ++++
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/ZkdController.java | 27 +
12 files changed, 1,404 insertions(+), 3 deletions(-)
diff --git a/zy-acs-flow/src/map/tool.js b/zy-acs-flow/src/map/tool.js
index a22da46..5dc1e83 100644
--- a/zy-acs-flow/src/map/tool.js
+++ b/zy-acs-flow/src/map/tool.js
@@ -501,6 +501,11 @@
routeList.forEach(route => {
const startPoint = querySprite(DEVICE_TYPE.POINT, route.startCodeStr);
const endPoint = querySprite(DEVICE_TYPE.POINT, route.endCodeStr);
+ if (!startPoint || !endPoint) {
+ console.error("route", route)
+ console.error("start", startPoint)
+ console.error("end", endPoint)
+ }
const pointRoute = new PointRoute(POINT_ROUTE_DIRECTION[route.direction]);
pointRoute.setPoint(startPoint, endPoint);
pointRoute.clear();
diff --git a/zy-acs-framework/src/main/java/com/zy/acs/framework/common/R.java b/zy-acs-framework/src/main/java/com/zy/acs/framework/common/R.java
index 491497b..9304ad0 100644
--- a/zy-acs-framework/src/main/java/com/zy/acs/framework/common/R.java
+++ b/zy-acs-framework/src/main/java/com/zy/acs/framework/common/R.java
@@ -42,6 +42,13 @@
return r;
}
+ public static R error(Integer code,String msg){
+ R r = error();
+ r.put(MSG, msg);
+ r.put(CODE, code);
+ return r;
+ }
+
public R add(Object obj){
this.put(DATA, obj);
return this;
diff --git a/zy-acs-framework/src/main/java/com/zy/acs/framework/exception/CoolException.java b/zy-acs-framework/src/main/java/com/zy/acs/framework/exception/CoolException.java
index 6401d62..d065d2c 100644
--- a/zy-acs-framework/src/main/java/com/zy/acs/framework/exception/CoolException.java
+++ b/zy-acs-framework/src/main/java/com/zy/acs/framework/exception/CoolException.java
@@ -1,10 +1,16 @@
package com.zy.acs.framework.exception;
+import com.zy.acs.framework.common.BaseRes;
+import lombok.Data;
+
/**
* 妗嗘灦寮傚父
* Created by vincent on 2019-09-04
*/
+@Data
public class CoolException extends RuntimeException {
+
+ private Integer code;
public CoolException(Throwable e) {
super(e);
@@ -14,4 +20,9 @@
super(message);
}
-}
+ public CoolException(Integer code, String message) {
+ super(message);
+ this.code = code;
+ }
+
+}
\ No newline at end of file
diff --git a/zy-acs-manager/pom.xml b/zy-acs-manager/pom.xml
index c98e97f..2d85426 100644
--- a/zy-acs-manager/pom.xml
+++ b/zy-acs-manager/pom.xml
@@ -160,6 +160,13 @@
<!-- <version>1.0.0-M2.1</version>-->
<!-- </dependency>-->
+ <!-- okHttp3 -->
+ <dependency>
+ <groupId>com.squareup.okhttp3</groupId>
+ <artifactId>okhttp</artifactId>
+ <version>4.9.0</version>
+ </dependency>
+
</dependencies>
<build>
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/exception/GlobalExceptionHandler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/exception/GlobalExceptionHandler.java
index b81c59f..34fee9d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/exception/GlobalExceptionHandler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/exception/GlobalExceptionHandler.java
@@ -1,9 +1,9 @@
package com.zy.acs.manager.common.exception;
+import com.zy.acs.framework.common.R;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.constant.Constants;
import com.zy.acs.manager.common.utils.CommonUtil;
-import com.zy.acs.framework.common.R;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.security.access.AccessDeniedException;
@@ -51,7 +51,10 @@
@ExceptionHandler(CoolException.class)
public R coolExceptionHandler(CoolException e, HttpServletResponse response) {
CommonUtil.addCrossHeaders(response);
- return R.error(e.getMessage());
+ if (e.getCode() == null) {
+ return R.error(e.getMessage());
+ }
+ return R.error(e.getCode(), e.getMessage());
}
@ResponseBody
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java
new file mode 100644
index 0000000..03ad08c
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java
@@ -0,0 +1,1120 @@
+package com.zy.acs.manager.core.service;
+
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.domain.AgvAction;
+import com.zy.acs.common.domain.AgvActionItem;
+import com.zy.acs.common.domain.AgvProtocol;
+import com.zy.acs.common.domain.BaseResult;
+import com.zy.acs.common.domain.protocol.AGV_11_UP;
+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.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.framework.common.Cools;
+import com.zy.acs.framework.common.SnowflakeIdWorker;
+import com.zy.acs.framework.exception.CoolException;
+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.TaskPosDto;
+import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
+import com.zy.acs.manager.core.third.zkd.HttpUtils;
+import com.zy.acs.manager.core.third.zkd.dto.AllocateTask;
+import com.zy.acs.manager.core.third.zkd.dto.AllocateTaskResponse;
+import com.zy.acs.manager.core.third.zkd.dto.Navigation;
+import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.enums.*;
+import com.zy.acs.manager.manager.service.*;
+import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
+import com.zy.acs.manager.manager.utils.ActionSorter;
+import com.zy.acs.manager.system.service.ConfigService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Propagation;
+import org.springframework.transaction.annotation.Transactional;
+import org.springframework.transaction.interceptor.TransactionAspectSupport;
+
+import java.util.*;
+import java.util.stream.Collectors;
+
+/**
+ * Created by vincent on 2023/6/14
+ */
+@Slf4j
+@Service("mainService")
+public class MainZkdService {
+
+ @Autowired
+ private BusService busService;
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private ActionService actionService;
+ @Autowired
+ private StaService staService;
+ @Autowired
+ private LocService locService;
+ @Autowired
+ private AgvService agvService;
+ @Autowired
+ private AgvDetailService agvDetailService;
+ @Autowired
+ private ConfigService configService;
+ @Autowired
+ private ValidService validService;
+ @Autowired
+ private AllocateService allocateService;
+ @Autowired
+ private CodeService codeService;
+ @Autowired
+ private MapService mapService;
+ @Autowired
+ private SnowflakeIdWorker snowflakeIdWorker;
+ @Autowired
+ private CodeGapService codeGapService;
+ @Autowired
+ private AgvCmdService agvCmdService;
+ @Autowired
+ private FuncStaService funcStaService;
+ @Autowired
+ private MapDataDispatcher mapDataDispatcher;
+ @Autowired
+ private TravelService travelService;
+ @Autowired
+ private SegmentService segmentService;
+ @Autowired
+ private TrafficService trafficService;
+ @Autowired
+ private AgvModelService agvModelService;
+ @Autowired
+ private LaneService laneService;
+ @Autowired
+ private ActionSorter actionSorter;
+
+
+ /**
+ * 浠诲姟鍒嗛厤缁欒溅杈� ( 杞﹁締姝ゆ椂鏄┖闂蹭笖闈欐鐨� )
+ */
+ @Transactional
+ public synchronized void allocateTaskByZkd(Bus bus) {
+ try {
+ Date now = new Date();
+ List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
+ .eq(Task::getBusId, bus.getId())
+ .eq(Task::getTaskSts, TaskStsType.INIT.val())
+ .orderByDesc(Task::getPriority)
+ );
+
+ if (Cools.isEmpty(taskList)) {
+ bus.setBusSts(BusStsType.PROGRESS.val());
+ bus.setUpdateTime(now);
+ if (!busService.updateById(bus)) {
+ log.error("Bus [{}] failed to Update 锛侊紒锛�", bus.getUuid());
+ }
+ return;
+ }
+ List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
+ List<AllocateTask> allocateTasks = new ArrayList<>();
+ AllocateTask allocateTask = null;
+ String startCode = null;
+ String endCode = null;
+ Loc oriLoc = null;
+ Loc destLoc = null;
+ Sta oriSta = null;
+ Sta destSta = null;
+ for (Task task : taskList) {
+ allocateTask = new AllocateTask();
+ switch (Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()))) {
+ case LOC_TO_LOC:
+ oriLoc = locService.getById(task.getOriLoc());
+ destLoc = locService.getById(task.getDestLoc());
+ startCode = codeService.getCacheById(oriLoc.getCode()).getData();
+ endCode = codeService.getCacheById(destLoc.getCode()).getData();
+ break;
+ case LOC_TO_STA:
+ oriLoc = locService.getById(task.getOriLoc());
+ destSta = staService.getById(task.getDestSta());
+ startCode = codeService.getCacheById(oriLoc.getCode()).getData();
+ endCode = codeService.getCacheById(destSta.getCode()).getData();
+ break;
+ case STA_TO_LOC:
+ oriSta = staService.getById(task.getOriSta());
+ destLoc = locService.getById(task.getDestLoc());
+ startCode = codeService.getCacheById(oriSta.getCode()).getData();
+ endCode = codeService.getCacheById(destLoc.getCode()).getData();
+ break;
+ case STA_TO_STA:
+ oriSta = staService.getById(task.getOriSta());
+ destSta = staService.getById(task.getDestSta());
+ startCode = codeService.getCacheById(oriSta.getCode()).getData();
+ endCode = codeService.getCacheById(destSta.getCode()).getData();
+ break;
+ default:
+ throw new BusinessException(task.getSeqNum() + "浠诲姟绫诲瀷閿欒");
+ }
+ allocateTask.setTaskId(task.getId() + "");
+ allocateTask.setStart(startCode);
+ allocateTask.setEnd(endCode);
+ allocateTask.setType("1");
+ allocateTask.setPriority(task.getPriority());
+ }
+ allocateTasks.add(allocateTask);
+ String post = HttpUtils.post("http://localhost:8080/zy-acs-manager/api/v1/zkd/allocateTask", JSON.toJSONString(allocateTasks));
+ List<AllocateTaskResponse> allocateTaskResponses = JSON.parseArray(post, AllocateTaskResponse.class);
+ for (AllocateTaskResponse allocateTaskResponse : allocateTaskResponses) {
+ Task task = taskService.getById(allocateTaskResponse.getTaskId());
+ task.setAgvId(Long.parseLong(allocateTaskResponse.getAgvId()));
+ task.setTaskSts(TaskStsType.WAITING.val());
+ task.setIoTime(now);
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+ }
+ }
+ } catch (Exception e) {
+ log.error("mainService.allocateTaskByZkd", e);
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+
+ /**
+ * 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(propagation = Propagation.REQUIRES_NEW)
+ public void buildMajorTask(Long agvId, Navigation navigation) {
+ try {
+ // generate travel
+ Travel travel = new Travel();
+ travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ travel.setAgvId(agvId);
+ travel.setTaskContent(JSON.toJSONString(navigation));
+ //travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList())));
+ travel.setState(TravelStateType.RUNNING.toString());
+ if (!travelService.save(travel)) {
+ throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ }
+
+ // generate segment
+ int segSerial = 0;
+ List<Segment> segmentList = new ArrayList<>();
+ for (List<TaskPosDto> dtoList : list) {
+ for (TaskPosDto taskPosDto : dtoList) {
+ segSerial++;
+ AgvBackpackType backpackType = AgvBackpackDto.find(backpackDtoList, taskPosDto.getTaskId());
+ assert null != backpackType;
+
+ Segment segment = new Segment();
+ segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ segment.setTravelId(travel.getId());
+ segment.setAgvId(agvId);
+ segment.setTaskId(taskPosDto.getTaskId());
+ segment.setSerial(segSerial);
+ segment.setEndNode(taskPosDto.getCodeId());
+ segment.setPosType(taskPosDto.getPosType().toString());
+ segment.setBackpack(backpackType.lev);
+ segment.setState(SegmentStateType.INIT.toString());
+ segmentList.add(segment);
+ }
+ }
+ for (int i = 0; i < segmentList.size(); i++) {
+ Segment segment = segmentList.get(i);
+ if (i == 0) {
+ segment.setState(SegmentStateType.WAITING.toString());
+ }
+ if (!segmentService.save(segment)) {
+ throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ }
+ }
+
+ // task
+ for (Task task : taskList) {
+ task.setTaskSts(TaskStsType.ASSIGN.val());
+ task.setStartTime(now);
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException(task.getUuid() + "浠诲姟鏇存柊澶辫触");
+ }
+ }
+
+ } catch (Exception e) {
+ log.error("mainService.buildMajorTask[task]", e);
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+
+
+ /**
+ * 鏍规嵁鍒嗙墖鐢熸垚鍔ㄤ綔 ( 杞﹁締鍙兘宸茬粡鍋氳繃涓�浜涗换鍔′簡,姝ｅ湪绛夊緟涓嬩竴娈典换鍔� )
+ */
+ @Transactional
+ public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
+ try {
+ if (Cools.isEmpty(agvId, segmentList)) {
+ return;
+ }
+ Date now = new Date();
+ long actionPrepareSts = ActionStsType.PREPARE.val();
+// JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
+ int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
+ String agvNo = agvService.getAgvNo(agvId);
+// if (!agvService.judgeEnable(agvId)) {
+// throw new CoolException("AGV[" + agvNo + "]褰撳墠涓嶅彲鐢�...");
+// }
+
+ AgvModel agvModel = agvModelService.getByAgvId(agvId);
+ Double workDirection = agvModel.getWorkDirection();
+ AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
+ assert agvSpeedType != null;
+
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
+
+ List<Action> actionList = new ArrayList<>();
+ // start node
+ Code lastCode = codeService.getCacheById(agvDetail.getRecentCode());
+ Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
+ if (!lastCode.getData().equals(pathList.get(0))) {
+ throw new CoolException("AGV[" + agvNo + "]瀹氫綅鍋忕Щ...");
+ }
+
+ boolean first = true;
+ for (Segment segment : segmentList) {
+
+ // 鍒嗘鎵�灞炵殑Task
+ Task task = taskService.getById(segment.getTaskId());
+
+ // 鑺傜偣鏉＄爜
+ Code code = codeService.getCacheById(segment.getEndNode());
+
+ // 闇�瑕佽蛋琛�
+ if (!lastCode.getData().equals(code.getData())) {
+
+ // 璧拌璺緞鑺傜偣
+// List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code);
+ List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
+
+ for (int i = 0; i < pathListPart.size(); i++) {
+ if (i == 0) {
+ continue;
+ }
+
+ String next = pathListPart.get(i);
+
+ Code nextCode = codeService.getCacheByData(next);
+ Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
+
+ // 绗竴姝ワ細濡傛灉涓嬩竴涓柟鍚戞濂芥槸浣滀笟鏂瑰悜鐨勭浉鍙嶆柟鍚戯紝鍒欓噸缃笅涓�涓柟鍚戜负浣滀笟鏂瑰悜锛屾爣璁� reverse = true
+ boolean reverse = false;
+ if (nextDirection.equals((workDirection + 180) % 360)) {
+ nextDirection = workDirection;
+ reverse = true;
+ }
+
+ // 绗簩姝ワ細鍒ゆ柇褰撳墠鑺傜偣鏄惁鍙互鏃嬭浆
+ if (!lastCode.getCornerBool()) {
+ // 濡傛灉鏄綔涓氭柟鍚戯紝浣嗘槸灏忚溅鍦ㄥ贩閬撳唴鏂瑰悜閿欒锛屽垯鍋滄
+ if (reverse && !lastDirection.equals(nextDirection)) {
+// throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // 濡傛灉涓嶆槸浣滀笟鏂瑰悜锛屽垽鏂槸鍚︾浉鍙嶆柟鍚戯紝濡傛灉鍙嶆柟鍚戝垯鍊掗��琛岃蛋
+ if (nextDirection.equals((lastDirection + 180) % 360)) {
+ nextDirection = lastDirection;
+ reverse = true;
+ }
+ } else {
+ if (!lastDirection.equals(nextDirection)) {
+ // 濡傛灉涓嬩釜鑺傜偣鏂瑰悜涓庡綋鍓峚gv鏂瑰悜鐩稿弽锛屽垯鍊掗��琛岃蛋锛屼絾鏄鏋滃綋鍓峚gv鏂瑰悜姝ｅソ涓庡伐浣滄柟鍚戠浉鍙嶏紝鍒欐棆杞嚦宸ヤ綔鏂瑰悜
+ if (nextDirection.equals((lastDirection + 180) % 360) && !workDirection.equals((lastDirection + 180) % 360)) {
+ nextDirection = lastDirection;
+ reverse = true;
+ } else {
+ // turn
+ actionList.add(new Action(
+ null, // 缂栧彿s
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+
+ lastDirection = nextDirection;
+ }
+ }
+ }
+
+ // 绗竴涓姩浣滀竴瀹氭槸 turn
+ if (actionList.isEmpty()) {
+ // turn
+ 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.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+
+ lastDirection = nextDirection;
+ }
+
+ // run
+ ActionTypeType actionType = ActionTypeType.StraightAheadTurnable;
+ if (reverse) {
+ actionType = ActionTypeType.StraightBackTurnable;
+ }
+ CodeGap gap = codeGapService.findByCodeOfBoth(lastCode.getId(), nextCode.getId());
+ 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�
+ actionType.desc, // 鍚嶇О
+ (double) agvSpeedType.val, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(gap.getDistance()), // 鍔ㄤ綔鍙傛暟
+ actionType.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+
+ lastCode = nextCode;
+
+ }
+
+ }
+
+ // 鍒濆鏂瑰悜鍊艰ˉ涓�
+ if (first) {
+ if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
+ // turn
+ 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.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+
+ lastDirection = workDirection;
+
+ }
+ first = false;
+ }
+
+ // 浣滀笟鐐瑰姩浣�
+ AgvDirectionType agvDirectionType;
+ Double staWorkDirection;
+ AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
+ switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
+ case ORI_LOC:
+ assert backpackType != null;
+ // 妫�楠屾柟鍚�
+ if (!lastDirection.equals(workDirection)) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // 璐ф灦鍙栬揣
+ Loc oriLoc = locService.getById(task.getOriLoc());
+ // 璁＄畻宸﹀彸鏂瑰悜
+ agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
+ 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.ReadyTakeFromShelvesLoc.desc, // 鍚嶇О
+ (double) agvDirectionType.val, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(oriLoc.getOffset()), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ // 鏆傚瓨鐐规斁璐�
+ 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.ReadyReleaseToAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyReleaseToAgvSite.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ break;
+ case DEST_LOC:
+ assert backpackType != null;
+ // 妫�楠屾柟鍚�
+ if (!lastDirection.equals(workDirection)) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // 鏆傚瓨鐐瑰彇璐ц揣
+ 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.ReadyTakeFromAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+
+ // 璐ф灦鏀捐揣
+ Loc destLoc = locService.getById(task.getDestLoc());
+ // 璁＄畻宸﹀彸鏂瑰悜
+ agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
+ 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.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
+ (double) agvDirectionType.val, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(destLoc.getOffset()), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ break;
+ case ORI_STA:
+ // 绔欑偣鍙栬揣
+ Sta oriSta = staService.getById(task.getOriSta());
+ Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
+ // 妫�楠屾柟鍚�
+ if (!lastDirection.equals(oriStaWorkDirection)) {
+ if (!lastCode.getCornerBool()) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // turn
+ 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.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+ lastDirection = oriStaWorkDirection;
+ }
+ // 璁＄畻璐у弶宸ヤ綔鏂瑰悜
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
+ 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.ReadyTakeFromConveyorSta.desc, // 鍚嶇О
+ staWorkDirection, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(oriSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+ // 鏆傚瓨鐐规斁璐�
+ assert backpackType != null;
+ 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.ReadyReleaseToAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyReleaseToAgvSite.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ break;
+ case DEST_STA:
+ // 绔欑偣鏀捐揣
+ Sta destSta = staService.getById(task.getDestSta());
+ Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
+ // 妫�楠屾柟鍚�
+ if (!lastDirection.equals(destStaWorkDirection)) {
+ if (!lastCode.getCornerBool()) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // turn
+ 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.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+ lastDirection = destStaWorkDirection;
+ }
+ // 鏆傚瓨鐐瑰彇璐�
+ assert backpackType != null;
+ 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.ReadyTakeFromAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+ // 璁＄畻璐у弶宸ヤ綔鏂瑰悜
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
+ 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.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
+ staWorkDirection, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(destSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+ break;
+ case TO_CHARGE:
+ // 妫�楠屾柟鍚�
+ FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
+ Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
+ if (!lastDirection.equals(chargeDirection)) {
+ actionList.add(new Action(
+ null, // 缂栧彿
+ null, // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
+ 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
+ ));
+ lastDirection = chargeDirection;
+ }
+
+ // charge
+ actionList.add(new Action(
+ null, // 缂栧彿
+ null, // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.DockingCharge.desc, // 鍚嶇О
+ null, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ null, // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.DockingCharge.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ break;
+ case TO_STANDBY:
+// FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
+// Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
+// if (!lastDirection.equals(standByDirection)) {
+// actionList.add(new Action(
+// null, // 缂栧彿
+// null, // 鎬荤嚎
+// task.getId(), // 浠诲姟
+// null, // 鍔ㄤ綔鍙�
+// null, // 浼樺厛绾�
+// ActionTypeType.TurnCorner.desc, // 鍚嶇О
+// null, // 灞炴�у��
+// lastCode.getData(), // 鍦伴潰鐮�
+// String.valueOf(standByDirection), // 鍔ㄤ綔鍙傛暟
+// 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
+// ));
+// lastDirection = standByDirection;
+// }
+ break;
+ case MOVE:
+ break;
+ default:
+ break;
+ }
+
+ }
+
+ // finish
+ actionList.add(new Action(
+ null, // 缂栧彿
+ null, // 鎬荤嚎
+ null, // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.FinishPath.desc, // 鍚嶇О
+ null, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ null, // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.FinishPath.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+
+ List<Action> newActionList = actionSorter.optimizeSort(actionList);
+ String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);
+
+ // save action
+ int i = newActionList.size();
+ for (Action action : newActionList) {
+// action.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ action.setGroupId(groupId);
+ action.setPriority(i);
+ i -= 1;
+ }
+ 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.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());
+ } catch (Exception e) {
+ log.error("mainService.generateAction", e);
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+
+ if (!Cools.isEmpty(pathList)) {
+ pathList.remove(0);
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, pathList);
+ mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList);
+ }
+
+ throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);
+ }
+ }
+
+ @Transactional
+ public void publishAction(String actionGroupId) {
+ try {
+ Date now = new Date();
+
+ // action
+ List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
+ .eq(Action::getGroupId, actionGroupId).eq(Action::getActionSts, ActionStsType.PREPARE.val())
+ .orderByDesc(Action::getPriority));
+ if (Cools.isEmpty(actionList)) {
+ return;
+ }
+
+ Long agvId = actionList.get(0).getAgvId();
+ String agvNo = agvService.getAgvNo(agvId);
+ if (!agvService.judgeOnline(agvId)) {
+ return;
+ }
+
+ long actionIssuedSts = ActionStsType.ISSUED.val();
+ for (Action action : actionList) {
+ action.setActionSts(actionIssuedSts);
+ action.setStartTime(now);
+ action.setIoTime(now);
+ action.setUpdateTime(now);
+ }
+ if (!actionService.updateBatchById(actionList)) {
+ throw new BusinessException("failed to update action batch !!!");
+ }
+
+ // task
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
+ long taskAssignSts = TaskStsType.ASSIGN.val();
+ long taskProgressSts = TaskStsType.PROGRESS.val();
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ if (task.getTaskSts().equals(taskAssignSts)) {
+ task.setTaskSts(taskProgressSts);
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException(task.getSeqNum() + "浠诲姟鏇存柊澶辫触");
+ }
+ }
+ }
+
+ AgvAction agvAction = new AgvAction(agvNo, actionGroupId);
+ for (Action action : actionList) {
+ switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
+ case TurnCorner:
+ agvAction.add(new AgvActionItem<>(TurnCornerAction.class)
+ .setQrCode(action.getCode())
+ .setVal(Optional.ofNullable(action.getVal()).orElse(0D).intValue())
+ .bodySync(body -> body.setAngle((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case StraightBackUnturnable:
+ break;
+ case StraightBackTurnable:
+ agvAction.add(new AgvActionItem<>(StraightBackTurnableAction.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case StraightAheadUnturnable:
+ break;
+ case StraightAheadTurnable:
+ agvAction.add(new AgvActionItem<>(StraightAheadTurnableAction.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case ReadyTakeFromShelvesLoc:
+ agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case ReadyTakeFromConveyorSta:
+ agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case ReadyTakeFromAgvSite:
+ agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case ReadyReleaseToShelvesLoc:
+ agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case ReadyReleaseToConveyorSta:
+ agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case ReadyReleaseToAgvSite:
+ agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case FinishPath:
+ agvAction.add(new AgvActionItem<>(FinishPathAction.class)
+ .setQrCode(action.getCode())
+ );
+ break;
+ case DockingCharge:
+ agvAction.add(new AgvActionItem<>(DockingChargeAction.class)
+ .setQrCode(action.getCode())
+ );
+ break;
+ default:
+ break;
+ }
+
+ }
+
+ 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());
+ } else {
+ log.error("浠诲姟缁� [{}] 鍔ㄤ綔鎸囦护涓嬪彂澶辫触 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�");
+ }
+ } catch (Exception e) {
+ log.error("mainService.publishAction", e);
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+
+ }
+
+ @Transactional
+ public void upDataSubscribe(AgvProtocol protocol) {
+ Date now = new Date();
+
+ Agv agv = agvService.selectByUuid(protocol.getAgvNo());
+ if (null == agv) {
+ log.warn("Agv [{}] 灏氭湭閴存潈 锛侊紒锛�", protocol.getAgvNo());
+ return;
+ }
+
+ IMessageBody msgBody = protocol.getMessageBody();
+ assert msgBody != null;
+
+ // 鍔ㄤ綔瀹屾垚鍖�
+ if (msgBody instanceof AGV_11_UP) {
+ AGV_11_UP agv_11_up = (AGV_11_UP) msgBody;
+ String serialNo = agv_11_up.getSerialNo();
+
+ log.info("Agv [{}] 鍔ㄤ綔瀹屾垚鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up));
+
+ // 鍏ュ簱鏀捐揣
+ 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())) {
+
+ 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());
+ }
+ }
+
+ }
+ }
+ }
+ }
+
+ // 鍑哄簱鍙栬揣
+ 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 {
+
+ 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());
+ }
+ }
+ }
+ }
+ }
+ }
+
+ // 璺緞瀹屾垚 || 鍏呯數瀹屾垚
+ if (agv_11_up.getCompleteType().equals(AgvCompleteType.ENTIRE_PATH_COMPLETE)
+ || agv_11_up.getCompleteType().equals(AgvCompleteType.DOCKING_CHARGE_COMPLETE)) {
+
+ // segment list
+ List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getGroupId, serialNo)
+// .eq(Segment::getState, SegmentStateType.RUNNING.toString())
+ .orderByAsc(Segment::getSerial)
+ );
+
+ // settlement
+ this.settleSegmentList(segmentList, serialNo);
+
+ log.info("Agv [{}] {}浣滀笟瀹屾瘯 ==========>> ", protocol.getAgvNo(), serialNo);
+
+ }
+ }
+
+ // 鏂欎粨淇℃伅鍖�
+ if (msgBody instanceof AGV_70_UP) {
+ AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;
+
+ 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) {
+ if (Cools.isEmpty(segmentList)) {
+ return;
+ }
+ Date now = new Date();
+
+ // task
+ for (Segment segment : segmentList) {
+ boolean taskComplete = false;
+
+ Task task = taskService.getById(segment.getTaskId());
+ assert null != task;
+ TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl());
+ assert null != typeType;
+
+ TaskPosDto.PosType posType = TaskPosDto.queryPosType(segment.getPosType());
+ switch (Objects.requireNonNull(posType)) {
+ case ORI_STA:
+ case ORI_LOC:
+ break;
+ case DEST_STA:
+ case DEST_LOC:
+ case TO_CHARGE:
+ case TO_STANDBY:
+ if (segment.getEndNode().equals(task.getDestCode())) {
+ taskComplete = true;
+ }
+ break;
+ case MOVE:
+ if (segment.getEndNode().equals(task.getDestCode())) {
+ if (typeType.equals(TaskTypeType.MOVE)) {
+ taskComplete = true;
+ }
+ }
+ break;
+ default:
+ break;
+ }
+
+ if (taskComplete) {
+ locService.taskCallBack(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());
+ } else {
+ log.info("Task [{}] 浣滀笟瀹屾瘯 ==========>> ", task.getSeqNum());
+ }
+
+ }
+ }
+
+ // action, follow by groupId
+ if (!Cools.isEmpty(serialNo)) {
+ List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
+ .eq(Action::getGroupId, serialNo)
+ .eq(Action::getActionSts, ActionStsType.ISSUED.val())
+ );
+ for (Action action : actionList) {
+ 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());
+ }
+ }
+ }
+
+ // segment
+ for (Segment segment : segmentList) {
+ segment.setState(SegmentStateType.FINISH.toString());
+ segment.setUpdateTime(now);
+ if (!segmentService.updateById(segment)) {
+ log.error("Segment [{}] 鏇存柊澶辫触 锛侊紒锛�", segment.getGroupId() + " - " + segment.getSerial());
+ }
+ }
+
+ // segment call back
+ segmentService.processNext(segmentList);
+ }
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficZkdService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficZkdService.java
new file mode 100644
index 0000000..257e066
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficZkdService.java
@@ -0,0 +1,112 @@
+package com.zy.acs.manager.core.service;
+
+import com.zy.acs.framework.common.Cools;
+import com.zy.acs.framework.common.SnowflakeIdWorker;
+import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
+import com.zy.acs.manager.manager.entity.Agv;
+import com.zy.acs.manager.manager.entity.AgvDetail;
+import com.zy.acs.manager.manager.entity.Segment;
+import com.zy.acs.manager.manager.entity.Travel;
+import com.zy.acs.manager.manager.enums.SegmentStateType;
+import com.zy.acs.manager.manager.service.*;
+import com.zy.acs.manager.system.service.ConfigService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+import org.springframework.transaction.annotation.Transactional;
+import org.springframework.transaction.interceptor.TransactionAspectSupport;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * Wavefront
+ * Created by vincent on 6/25/2024
+ */
+@Slf4j
+@Component
+public class TrafficZkdService {
+
+ @Autowired
+ private AgvService agvService;
+ @Autowired
+ private AgvDetailService agvDetailService;
+ @Autowired
+ private CodeService codeService;
+ @Autowired
+ private TravelService travelService;
+ @Autowired
+ private SegmentService segmentService;
+ @Autowired
+ private MainService mainService;
+ @Autowired
+ private MainLockWrapService mainLockWrapService;
+ @Autowired
+ private MapService mapService;
+ @Autowired
+ private MapDataDispatcher mapDataDispatcher;
+ @Autowired
+ private SnowflakeIdWorker snowflakeIdWorker;
+ @Autowired
+ private AgvModelService agvModelService;
+ @Autowired
+ private RetreatNavigateService retreatNavigateService;
+ @Autowired
+ private ConfigService configService;
+ @Autowired
+ private JamService jamService;
+ @Autowired
+ private AvoidWaveCalculator avoidWaveCalculator;
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private FuncStaService funcStaService;
+
+ @Transactional
+ public synchronized void trigger(Segment segment) {
+ try {
+ Date now = new Date();
+
+
+ // temporary -----------------
+ Integer algoExtensionTime = configService.getVal("algoExtensionTime", Integer.class);
+ if (null != algoExtensionTime && algoExtensionTime > 0) {
+ Thread.sleep(algoExtensionTime);
+ }
+ // ---------------------------
+
+ Travel travel = travelService.getById(segment.getTravelId());
+ Agv agv = agvService.getById(travel.getAgvId());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
+ long endNode = segment.getEndNode();
+
+
+ if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
+ return;
+ }
+ List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
+ if (!Cools.isEmpty(waitingSegList)) {
+ for (Segment waitingSeg : waitingSegList) {
+ if (!waitingSeg.getId().equals(segment.getId())) {
+// log.error("AGV[{}] 浠诲姟寮傚父锛屾湇鍔″櫒閿欒锛侊紒锛�", agv.getUuid());
+ return;
+ }
+ }
+ }
+
+ List<Segment> segmentList = new ArrayList<>();
+ segmentList.add(segment);
+
+
+ mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
+
+ } catch (Exception e) {
+ log.error("TrafficService.trigger", e);
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+
+ }
+ }
+
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/HttpUtils.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/HttpUtils.java
new file mode 100644
index 0000000..6187ff0
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/HttpUtils.java
@@ -0,0 +1,33 @@
+package com.zy.acs.manager.core.third.zkd;
+
+import okhttp3.*;
+
+import java.io.IOException;
+
+public class HttpUtils {
+
+ public static String post(String url, String data) {
+ OkHttpClient client = new OkHttpClient();
+ // 鍒涘缓RequestBody锛屾寚瀹氬獟浣撶被鍨嬶紙Content-Type锛変负application/json; charset=utf-8
+ RequestBody body = RequestBody.create(data, MediaType.get("application/json; charset=utf-8"));
+
+ // 鍒涘缓Request瀵硅薄
+ Request request = new Request.Builder()
+ .url(url) // 鏇挎崲涓轰綘鐨凙PI URL
+ .post(body) // 浣跨敤POST鏂规硶骞惰缃姹備綋
+ .build();
+
+ // 鍙戦�佽姹傚苟鑾峰彇鍝嶅簲
+ try (Response response = client.newCall(request).execute()) {
+ if (!response.isSuccessful()) throw new IOException("Unexpected code " + response);
+
+ // 鑾峰彇鍝嶅簲浣撳苟澶勭悊锛屼緥濡傝浆鎹负瀛楃涓叉垨JSON瀵硅薄绛�
+ String responseData = response.body().string();
+ System.out.println(responseData); // 鎵撳嵃鍝嶅簲浣撴暟鎹�
+ return responseData;
+ } catch (IOException e) {
+ e.printStackTrace(); // 澶勭悊寮傚父鎯呭喌锛屼緥濡傜綉缁滈棶棰樻垨鏈嶅姟鍣ㄩ敊璇瓑
+ }
+ return null;
+ }
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/AllocateTask.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/AllocateTask.java
new file mode 100644
index 0000000..0c498f9
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/AllocateTask.java
@@ -0,0 +1,18 @@
+package com.zy.acs.manager.core.third.zkd.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class AllocateTask implements Serializable {
+ private String taskId;
+
+ private String start;
+
+ private String end;
+
+ private String type;
+
+ private Integer priority;
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/AllocateTaskResponse.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/AllocateTaskResponse.java
new file mode 100644
index 0000000..5374127
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/AllocateTaskResponse.java
@@ -0,0 +1,14 @@
+package com.zy.acs.manager.core.third.zkd.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class AllocateTaskResponse implements Serializable {
+
+ private String taskId;
+
+
+ private String agvId;
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/Navigation.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/Navigation.java
new file mode 100644
index 0000000..d9b1128
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/zkd/dto/Navigation.java
@@ -0,0 +1,44 @@
+package com.zy.acs.manager.core.third.zkd.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.util.List;
+
+@Data
+public class Navigation implements Serializable {
+
+ private String agvId;
+
+ private List<CodeDTO> CodeList;
+
+ @Data
+ public class CodeDTO implements Serializable {
+ /**
+ * 鐮佸��
+ */
+ private String code;
+ /**
+ * 鏂瑰悜
+ */
+ private String direction;
+ /**
+ * 绫诲瀷锛岄伩璁┿�佷换鍔°�佸厖鐢点�佸幓寰呮満浣�
+ */
+ private String type;
+ /**
+ * 浠诲姟缂栧彿
+ */
+ private String taskId;
+ /**
+ * 鍔ㄤ綔绫诲瀷
+ */
+ private String posType;
+ /**
+ * 绗嚑灞傝儗绡�
+ */
+ private Integer lev;
+
+
+ }
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/ZkdController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/ZkdController.java
new file mode 100644
index 0000000..f75282e
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/ZkdController.java
@@ -0,0 +1,27 @@
+package com.zy.acs.manager.manager.controller;
+
+import com.zy.acs.manager.core.third.zkd.dto.Navigation;
+import com.zy.acs.manager.manager.service.CodeService;
+import com.zy.acs.manager.system.controller.BaseController;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+@RestController
+@RequestMapping("/api")
+public class ZkdController extends BaseController {
+
+ @Autowired
+ private CodeService codeService;
+
+ @RequestMapping("/zkd/navigation/v1")
+ public Object navigation(@RequestBody Navigation navigation) {
+ String agvId = navigation.getAgvId();
+ navigation.getCodeList().forEach(codeDTO -> {
+
+ });
+
+ return null;
+ }
+}
--
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