From 3c9b9886fc9e9a26dac4e8b5dd4cc0db0b8fce82 Mon Sep 17 00:00:00 2001
From: zc <zyzc>
Date: 星期四, 16 十月 2025 09:53:23 +0800
Subject: [PATCH] 创建分支
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 577 ++++++++++++++++++++++++++++++++++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/entity/Loc.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java | 20
zy-acs-manager/src/main/resources/application.yml | 8
zy-acs-manager/src/main/java/com/zy/acs/manager/common/domain/PageParam.java | 24 +
zy-acs-manager/src/main/resources/application-dev.yml | 87 ------
zy-acs-gateway/src/main/resources/application.yml | 4
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 15 +
8 files changed, 627 insertions(+), 110 deletions(-)
diff --git a/zy-acs-gateway/src/main/resources/application.yml b/zy-acs-gateway/src/main/resources/application.yml
index 4cf6b60..e2726e9 100644
--- a/zy-acs-gateway/src/main/resources/application.yml
+++ b/zy-acs-gateway/src/main/resources/application.yml
@@ -8,7 +8,7 @@
driver-class-name: com.mysql.jdbc.Driver
url: jdbc:mysql://localhost:3306/jbly?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
username: root
- password: xltys1995
+ password: 34821015
eureka:
client:
@@ -18,7 +18,7 @@
#redis鐨勭浉鍏抽厤缃�
redis:
- host: localhost
+ host: 127.0.0.1
password: xltys1995
port: 6379
max: 30
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/domain/PageParam.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/domain/PageParam.java
index eabae2b..e862a8c 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/domain/PageParam.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/domain/PageParam.java
@@ -108,11 +108,19 @@
if (this.isToUnderlineCase) {
key = Utils.toSymbolCase(key, '_');
}
- if (like) {
- queryWrapper.like(key, val);
+ String finalKey = key;
+ if (like && key.contains(timeField)) {
+ queryWrapper.and(wrapper -> wrapper.like("`" + finalKey + "`", val));
+// queryWrapper.like("`" + key + "`", val);
} else {
- queryWrapper.eq(key, val);
+ queryWrapper.and(wrapper -> wrapper.eq("`" + finalKey + "`", val));
+// queryWrapper.eq("`" + key + "`", val);
}
+// if (like) {
+// queryWrapper.like(key, val);
+// } else {
+// queryWrapper.eq(key, val);
+// }
}
}
@@ -163,7 +171,7 @@
String condition = where.getCondition();
if (i == 0) {
- queryWrapper.and(wrapper -> wrapper.like(column, condition));
+ queryWrapper.and(wrapper -> wrapper.like("`" + column + "`", condition));
} else {
queryWrapper.or().like(column, condition);
}
@@ -200,9 +208,9 @@
key = Utils.toSymbolCase(key, '_');
}
if (like) {
- queryWrapper.like(key, val);
+ queryWrapper.like("`" + key + "`", val);
} else {
- queryWrapper.eq(key, val);
+ queryWrapper.eq("`" + key + "`", val);
}
}
}
@@ -254,9 +262,9 @@
String condition = where.getCondition();
if (i == 0) {
- queryWrapper.and(wrapper -> wrapper.like(column, condition));
+ queryWrapper.and(wrapper -> wrapper.like("`" + column + "`", condition));
} else {
- queryWrapper.or().like(column, condition);
+ queryWrapper.or().like("`" + column + "`", condition);
}
}
}
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 545ea54..1ea8950 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
@@ -1288,6 +1288,583 @@
}
+
+ /**
+ * 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 generateActionV2(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...");
+ }
+
+ String lastCorner = null;
+ for (int i = pathList.size(); i <0; i++) {
+ Code nextCode = codeService.getCacheByData(pathList.get(i - 1));
+ if (nextCode!=null&&nextCode.getCornerBool()){
+ lastCorner =pathList.get(i - 1);
+ }
+ }
+
+ 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);
+
+ boolean reverse = false;
+ if (lastCorner.equals(lastCode)){
+ // DOTO
+
+ }else {
+ // 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
+ 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�ш皰
+ 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
+ oriSta.getStaTypeIsCheck() == 1 ? 1 : 0,
+ oriSta.getStaNo()
+ ));
+ // 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�ш皰
+ 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�ш皰
+ 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�ш皰
+ 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�ш皰
+ 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
+ destSta.getStaTypeIsCheck() == 1 ? 2 : 0,
+ destSta.getStaNo()
+ ));
+ 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�ш皰
+ 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�ш皰
+ 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�ш皰
+// 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;
+// }
+ String runToWaitHeightFlag = configService.getVal("RunToWaitHeightFlag", String.class);
+ if (!Cools.isEmpty(runToWaitHeightFlag) && runToWaitHeightFlag.contains(agvId.toString())) {
+ String runToWaitHeight = configService.getVal("RunToWaitHeight", String.class);
+ if (Cools.isEmpty(runToWaitHeight)) {
+ runToWaitHeight = "800";
+ }
+ Double runToWaitHeightValue = configService.getVal("RunToWaitHeightValue", Double.class);
+ if (runToWaitHeightValue == 0) {
+ runToWaitHeightValue = 1D;
+ }
+ // 淇绌烘寚閽堝紓甯革細妫�鏌astCode鏄惁涓簄ull
+ if (lastCode == null) {
+ throw new BusinessException("AGV瀹氫綅淇℃伅寮傚父锛屾棤娉曠敓鎴愬緟鏈哄姩浣�");
+ }
+ 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
+ runToWaitHeightValue, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ runToWaitHeight, // 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
+ ));
+ }
+ 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 {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index 5f4df21..7d4ae30 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -154,6 +154,21 @@
return angle;
}
+ public static void main(String[] args) {
+ Double x0 = 2D;
+ Double y0 = 2D;
+
+ Double x1 = 2D;
+ Double y1 = 1D;
+
+ double deltaX = x1 - x0;
+ double deltaY = y1 - y0;
+ double angle = Math.atan2(deltaX, deltaY);
+ angle = Math.toDegrees(angle) + 0;
+ angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
+ System.out.println(angle);
+ }
+
// 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/entity/Loc.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/entity/Loc.java
index 478733c..f20dffe 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/entity/Loc.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/entity/Loc.java
@@ -1,6 +1,7 @@
package com.zy.acs.manager.manager.entity;
import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableField;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableName;
import com.zy.acs.framework.common.Cools;
@@ -80,6 +81,7 @@
* 鎺�
*/
@ApiModelProperty(value= "鎺�")
+ @TableField("`row`")
private Integer row;
/**
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
index b98f6bb..28e7e2b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
@@ -61,16 +61,16 @@
}
// area limit
- List<String> areaCodeList = agvAreaDispatcher.getAreaCodeListByAgvNo(agvService.getAgvNo(agvId));
- if (Cools.isEmpty(areaCodeList)) {
- funcStaList.clear();
- } else {
- funcStaList.removeIf(funcSta -> {
- Code code = codeService.getCacheById(funcSta.getCode());
- if (Cools.isEmpty(code, code.getData())) { return true; }
- return !areaCodeList.contains(code.getData());
- });
- }
+// List<String> areaCodeList = agvAreaDispatcher.getAreaCodeListByAgvNo(agvService.getAgvNo(agvId));
+// if (Cools.isEmpty(areaCodeList)) {
+// funcStaList.clear();
+// } else {
+// funcStaList.removeIf(funcSta -> {
+// Code code = codeService.getCacheById(funcSta.getCode());
+// if (Cools.isEmpty(code, code.getData())) { return true; }
+// return !areaCodeList.contains(code.getData());
+// });
+// }
if (!Cools.isEmpty(funcStaList)) {
Collections.shuffle(funcStaList);
diff --git a/zy-acs-manager/src/main/resources/application-dev.yml b/zy-acs-manager/src/main/resources/application-dev.yml
index ab9628f..e69de29 100644
--- a/zy-acs-manager/src/main/resources/application-dev.yml
+++ b/zy-acs-manager/src/main/resources/application-dev.yml
@@ -1,87 +0,0 @@
-
-server:
- port: 8088
-spring:
- application:
- name: @pom.artifactId@
- mvc:
- static-path-pattern: /**
- datasource:
- driver-class-name: com.mysql.jdbc.Driver
- url: jdbc:mysql://127.0.0.1:3306/jbly?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
- username: root
- password: xltys1995
- type: com.alibaba.druid.pool.DruidDataSource
- druid:
- initial-size: 5
- min-idle: 5
- max-active: 20
- max-wait: 30000
- time-between-eviction-runs-millis: 60000
- min-evictable-idle-time-millis: 300000
- test-while-idle: true
- test-on-borrow: true
- test-on-return: false
- remove-abandoned: true
- remove-abandoned-timeout: 1800
- #pool-prepared-statements: false
- #max-pool-prepared-statement-per-connection-size: 20
- filters: stat, wall
- validation-query: SELECT 'x'
- aop-patterns: com.zy.*.*.service.*
- stat-view-servlet:
- url-pattern: /druid/*
- reset-enable: true
- login-username: admin
- login-password: admin
- enabled: true
- servlet:
- multipart:
- maxFileSize: 100MB
- maxRequestSize: 100MB
- jmx:
- enabled: false
-
-redis:
- host: 127.0.0.1
- password: xltys1995
- port: 6379
- max: 30
- min: 10
- timeout: 5000
- index: 4
-
-floyd:
- enable: false
-
-eureka:
- client:
- enabled: false
- serviceUrl:
- defaultZone: http://192.168.2.46:8765/eureka/
-
-mybatis-plus:
- mapper-locations: classpath:mapper/*/*.xml
- # global-config:
- # field-strategy: 0
- configuration:
- # log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
- map-underscore-to-camel-case: true
- cache-enabled: true
- global-config:
- :banner: false
- db-config:
- id-type: auto
- logic-delete-value: 1
- logic-not-delete-value: 0
-
-logging:
- file:
- path: stock/out/rcs-manager/logs
-
-config:
- open-office-home: C
- swagger-base-package: com.zy.acs
- swagger-title: ACS API鏂囨。
- swagger-version: 1.0
- token-key: KUHSMcYQ4lePt3r6bckz0P13cBJyoonYqInThvQlUnbsFCIcCcZZAbWZ6UNFztYNYPhGdy6eyb8WdIz8FU2Cz396TyTJk3NI2rtXMHBOehRb4WWJ4MdYVVg2oWPyqRQ2
\ No newline at end of file
diff --git a/zy-acs-manager/src/main/resources/application.yml b/zy-acs-manager/src/main/resources/application.yml
index 8d8b003..83def16 100644
--- a/zy-acs-manager/src/main/resources/application.yml
+++ b/zy-acs-manager/src/main/resources/application.yml
@@ -4,13 +4,15 @@
spring:
application:
name: @pom.artifactId@
+ profiles:
+ active: dev
mvc:
static-path-pattern: /**
datasource:
driver-class-name: com.mysql.jdbc.Driver
- url: jdbc:mysql://10.10.10.200:3306/jbly?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
+ url: jdbc:mysql://127.0.0.1:3306/ybly?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
username: root
- password: xltys1995
+ password: 34821015
type: com.alibaba.druid.pool.DruidDataSource
druid:
initial-size: 5
@@ -43,7 +45,7 @@
enabled: false
redis:
- host: 10.10.10.200
+ host: 127.0.0.1
password: xltys1995
port: 6379
max: 30
--
Gitblit v1.9.1