From 89c7f6e5bcc21b0e8f83a2bc6d680e2ffe431e6f Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 13 一月 2025 09:38:29 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 522 +++++++++++++++++++++++++++++++++------------------------
1 files changed, 298 insertions(+), 224 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 434718d..8a1f948 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
@@ -1,11 +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.framework.common.Cools;
-import com.zy.acs.framework.common.SnowflakeIdWorker;
-import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
import com.zy.acs.common.domain.AgvProtocol;
@@ -14,11 +10,20 @@
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.*;
+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.common.utils.GsonUtils;
import com.zy.acs.common.utils.Utils;
+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.TaskDto;
+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.Lane;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
@@ -26,16 +31,16 @@
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.Component;
+import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.locks.ReentrantLock;
import java.util.stream.Collectors;
/**
@@ -44,9 +49,6 @@
@Slf4j
@Component("mainService")
public class MainService {
-
- private static final int LOCK_TIMEOUT = 5;
- private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@Autowired
private BusService busService;
@@ -66,6 +68,8 @@
private ConfigService configService;
@Autowired
private ValidService validService;
+ @Autowired
+ private AllocateService allocateService;
@Autowired
private CodeService codeService;
@Autowired
@@ -89,7 +93,10 @@
@Autowired
private AgvModelService agvModelService;
@Autowired
- private MissionAssignService missionAssignService;
+ private LaneService laneService;
+ @Autowired
+ private ActionSorter actionSorter;
+
@SuppressWarnings("all")
@Transactional
@@ -101,14 +108,14 @@
String batch = busSubmitParam.getBatch();
List<TaskDto> taskDtoList = busSubmitParam.getTaskList();
if (Cools.isEmpty(taskDtoList)) {
- throw new BusinessException("taskDtoList 涓嶈兘涓虹┖");
+ throw new BusinessException("taskList can't be empty!");
}
// 浼樺厛绾ф帓搴�
taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());
// 鏍￠獙
- List<Task> taskList = validService.validBusDto(taskDtoList);
+ List<Task> taskList = validService.validTaskDtoList(taskDtoList);
// 淇濆瓨鎬荤嚎
Date now = new Date();
@@ -120,7 +127,7 @@
bus.setMemo(memo);
if (!busService.save(bus)) {
- throw new BusinessException("浠诲姟淇濆瓨澶辫触");
+ throw new BusinessException("Internal Server Error!");
}
// 淇濆瓨浠诲姟
@@ -128,7 +135,7 @@
task.setBusId(bus.getId());
task.setTaskSts(TaskStsType.INIT.val());
if (!taskService.save(task)) {
- throw new BusinessException(task.getSeqNum() + "浠诲姟淇濆瓨澶辫触");
+ throw new BusinessException("seqNum:" + task.getSeqNum() + " failed to save!");
}
// 淇敼搴撲綅鐘舵��
@@ -140,44 +147,44 @@
case LOC_TO_LOC:
oriLoc = locService.getById(task.getOriLoc());
if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 涓嶆槸鍦ㄥ簱鐘舵��");
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
}
oriLoc.setLocSts(LocStsType.PAKOUT.val());
oriLoc.setUpdateTime(now);
if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
}
destLoc = locService.getById(task.getDestLoc());
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 涓嶆槸绌洪棽鐘舵��");
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
}
destLoc.setLocSts(LocStsType.PAKIN.val());
destLoc.setUpdateTime(now);
if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
}
break;
case LOC_TO_STA:
oriLoc = locService.getById(task.getOriLoc());
if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 涓嶆槸鍦ㄥ簱鐘舵��");
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
}
oriLoc.setLocSts(LocStsType.PAKOUT.val());
oriLoc.setUpdateTime(now);
if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
}
break;
case STA_TO_LOC:
destLoc = locService.getById(task.getDestLoc());
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 涓嶆槸绌洪棽鐘舵��");
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
}
destLoc.setLocSts(LocStsType.PAKIN.val());
destLoc.setUpdateTime(now);
if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
}
break;
case STA_TO_STA:
@@ -194,7 +201,7 @@
* 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 infuseAgvForTask(Bus bus) {
+ public synchronized void allocateTask(Bus bus) {
try {
Date now = new Date();
List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
@@ -207,40 +214,26 @@
bus.setBusSts(BusStsType.PROGRESS.val());
bus.setUpdateTime(now);
if (!busService.updateById(bus)) {
- log.error("Bus [{}] 鏇存柊澶辫触 锛侊紒锛�", bus.getUuid());
+ 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());
- Map<String, List<Long>> taskAllot = new HashMap<>();
+ List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
for (Task task : taskList) {
- Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
+ Agv agv = allocateService.execute(task);
if (null == agv) {
- log.warn("{}浠诲姟寮傚父锛屾棤娉曟绱㈢┖闂睞gv...", task.getSeqNum());
+// log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
continue;
}
-
-
task.setAgvId(agv.getId());
task.setTaskSts(TaskStsType.WAITING.val());
task.setIoTime(now);
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
- throw new BusinessException(task.getSeqNum() + "浠诲姟鏇存柊澶辫触");
- }
-
- if (taskAllot.containsKey(agv.getUuid())) {
- taskAllot.get(agv.getUuid()).add(task.getId());
- } else {
- taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
+ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
}
}
-
-// bus.setUpdateTime(now);
-// if (!busService.updateById(bus)) {
-// throw new BusinessException(bus.getSeqNum() + "鎬荤嚎鏇存柊澶辫触");
-// }
} catch (Exception e) {
log.error("mainService.infuseAgvForTask", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -249,40 +242,32 @@
/**
* 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
- public synchronized void mergeMajorTask(Long agvId, List<Task> taskList) {
- if (Cools.isEmpty(taskList)) { return; }
- boolean lockAcquired = false;
+ @Transactional(propagation = Propagation.REQUIRES_NEW)
+ public void buildMajorTask(Long agvId, List<Task> taskList) {
+ if (Cools.isEmpty(agvId, taskList)) { return; }
try {
- if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
- }
- Date now = new Date();
- final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
-
+ // valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId(), agvDetail -> agvDetail.getVol() > agv.getChargeLine())) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
+ if (!agvService.judgeEnable(agv.getId(), true)) {
+ return;
}
-
if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
throw new CoolException("AGV[" + agv.getUuid() + "]鍒嗛厤浠诲姟澶辫触锛屽凡瀛樺湪鎵ц浠诲姟...");
}
-
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
- assert agvDetail != null;
- if (agvDetail.getPos() == 0) {
- if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅湪瀹氫綅...");
- }
+ if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()))
+ || !Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
+ throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign锛宐ecause already has the segment in running...");
}
+ // execute ----------------------------------------------------
+ Date now = new Date();
// sort and sub
taskList.sort(new Comparator<Task>() {
@Override
public int compare(Task o1, Task o2) {
- return 0;
+ return o2.getPriority() - o1.getPriority();
}
});
Integer backpack = agvService.getBackpack(agv);
@@ -290,15 +275,18 @@
taskList = taskList.subList(0, backpack);
}
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
+ List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
+
/**
- * single agvId
+ * 鍚屽贩閬撳綊绫�
+ * same lane for every single agvId
*
- * key: y + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
+ * key: y(val) + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
* val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
*/
Map<String, List<TaskPosDto>> groups = new HashMap<>();
-
- List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
+ final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
int backpackLev = 0;
for (Task task : taskList) {
@@ -362,8 +350,40 @@
}
/**
- * List<TaskPosDto>: task list on the same channel
+ * 1.Map<String, List<TaskPosDto>> groups
+ *
+ * key: 1000 + ORIGIN
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 3000 + ORIGIN
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 2000 + ORIGIN
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 1000 + DESTINATION
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 2000 + DESTINATION
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * ......
+ *
+ * 2.ArrayList<List<TaskPosDto>> list
+ * [
+ * [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
+ * [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
+ * [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
+ * ......
+ * ]
+ */
+
+ /**
+ * 瀵规墍鏈夊贩閬撹繘琛屾湁搴忔帓搴忥紝鍏堟槸閽堝List涓轰竴涓崟浣嶏紝瀵逛粬浠繘琛孎irstWeight鎺掑簭锛岀浉褰撲簬琛�1鐨刱ey鐨勬暟鍊艰繘琛屾湁搴忔帓搴�
+ * List<TaskPosDto>: task list on the same lane
* ArrayList<List<TaskPosDto>>: all the task list by one agv
+ *
+ * tip: ORI 鍜� DEST 姘歌繙涓嶄細瀛樺湪鍚屼竴涓� List
*/
ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
list.sort((o1, o2) -> {
@@ -371,10 +391,41 @@
double o2CompVal = (o2.get(0).getFirstWeight(sameGroupXy) * 100) + o2.get(0).getPosType().compOffset;
return (int) (o1CompVal - o2CompVal);
});
-
+ // 閽堝Dto锛屾寜鐓econdWeight杩涜鎺掑簭
for (List<TaskPosDto> taskPosDtoList : list) {
taskPosDtoList.sort((o1, o2) -> (int) (o1.getSecondWeight(sameGroupXy) * 100 - o2.getSecondWeight(sameGroupXy) * 100));
}
+
+ // re-order by agv current position
+ Code currCode = codeService.getById(agvDetail.getRecentCode());
+ Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
+
+ List<List<TaskPosDto>> pickGroups = new ArrayList<>();
+ List<List<TaskPosDto>> dropGroups = new ArrayList<>();
+
+ for (List<TaskPosDto> group : list) {
+ // Assume 涓�涓换鍔＄粍涓墍鏈塗askPosDto鐨凱osType.brief鐩稿悓
+ TaskPosDto.PosType posType = group.get(0).getPosType();
+ if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) {
+ pickGroups.add(group);
+ } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) {
+ dropGroups.add(group);
+ } else {
+ // import tip: the list must only contain ORIGIN and DESTINATION
+ log.error("the list must only contain ORIGIN and DESTINATION");
+ }
+ }
+
+ currPosition = allocateService.pac(currPosition, pickGroups);
+ currPosition = allocateService.pac(currPosition, dropGroups);
+
+ List<List<TaskPosDto>> reorderedList = new ArrayList<>();
+ reorderedList.addAll(pickGroups);
+ reorderedList.addAll(dropGroups);
+
+ list.clear();
+ list.addAll(reorderedList);
+
// generate travel
Travel travel = new Travel();
@@ -423,6 +474,7 @@
// 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");
@@ -431,33 +483,30 @@
} catch (Exception e) {
- log.error("mainService.mergeMajorTask[task]", e);
+ log.error("mainService.buildMajorTask[task]", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- } finally {
-
- if (lockAcquired) {
- this.lock.unlock();
- }
}
}
+
/**
* 鍏呯數 鍥炲緟鏈轰綅浠诲姟
*/
- @Transactional
- public synchronized boolean buildMinorTask(Agv agv, AgvDetail agvDetail, TaskTypeType taskType, String destination) {
- if (Cools.isEmpty(agv, taskType)) { return false; }
- boolean lockAcquired = false;
+ @Transactional(propagation = Propagation.REQUIRES_NEW) // although there is a Transactional here that the lock is isolated, but we can't join the caller's Transactional
+ public boolean buildMinorTask(Long agvId, TaskTypeType taskType, String destination, Jam jam) {
+ if (Cools.isEmpty(agvId, taskType)) { return false; }
try {
- if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
- }
-
- if (null == agvDetail) {
- agvDetail = agvDetailService.selectByAgvId(agv.getId());
- }
- if (!agvService.judgeEnable(agv.getId())) {
+ String agvNo = agvService.getAgvNo(agvId);
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
+ if (!agvService.judgeEnable(agvId)) {
return false;
+ }
+ if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
+ throw new CoolException("AGV[" + agvNo + "] failed to assign锛宐ecause already has the task in running...");
+ }
+ if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString()))
+ || !Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.RUNNING.toString()))) {
+ throw new CoolException("AGV[" + agvNo + "] failed to assign锛宐ecause already has the segment in running...");
}
Date now = new Date();
@@ -465,55 +514,60 @@
switch (taskType) {
case TO_CHARGE:
case TO_STANDBY:
- List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
- .eq(FuncSta::getType, FuncStaType.query(taskType).toString())
- .eq(FuncSta::getAgvId, agv.getId())
- .eq(FuncSta::getState, FuncStaStateType.IDLE.toString())
- .eq(FuncSta::getStatus, StatusType.ENABLE.val)
- );
- if (!Cools.isEmpty(funcStaList)) {
- FuncSta funcSta = funcStaList.get(0);
+ List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agvId);
+ if (!Cools.isEmpty(idleFunStaList)) {
+ FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
endCode = codeService.getById(funcSta.getCode());
+ }
+ if (null == endCode) {
+ log.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", agvNo, taskType.toString());
}
break;
case MOVE:
- endCode = codeService.selectByData(destination);
+ endCode = codeService.getCacheByData(destination);
break;
default:
return false;
}
if (null == endCode) {
- log.error("{}鍙疯溅杈嗗缓绔嬪姛鑳戒换鍔″け璐ワ紝鏃犳硶妫�绱㈠埌鐩爣瀹氫綅锛孴askTypeType锛歿}", agv.getUuid(), taskType.toString());
return false;
+ }
+ if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
+ throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agvNo + "]!!!");
}
Task task = new Task();
- task.setAgvId(agv.getId());
+ task.setAgvId(agvId);
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
task.setOriCode(agvDetail.getCode());
task.setDestCode(endCode.getId());
+ // lane
+ Lane destLane = laneService.search(endCode.getData());
+ if (null != destLane) {
+ task.setDestLaneHash(destLane.getHashCode());
+ }
task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
task.setTaskSts(TaskStsType.ASSIGN.val());
task.setTaskType(taskType.val());
task.setIoTime(now);
task.setStartTime(now);
if (!taskService.save(task)) {
- throw new BusinessException(task.getSeqNum() + "浠诲姟淇濆瓨澶辫触");
+ throw new BusinessException(task.getSeqNum() + " failed to save");
}
// generate travel
Travel travel = new Travel();
travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- travel.setAgvId(agv.getId());
+ travel.setAgvId(agvId);
// travel.setTaskContent(JSON.toJSONString(list));
- travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
+ travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
travel.setState(TravelStateType.RUNNING.toString());
if (!travelService.save(travel)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("travel failed to save");
}
// generate segment
@@ -538,7 +592,7 @@
Segment segment = new Segment();
segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
segment.setTravelId(travel.getId());
- segment.setAgvId(agv.getId());
+ segment.setAgvId(agvId);
segment.setTaskId(task.getId());
segment.setSerial(segSerial);
segment.setEndNode(endCode.getId());
@@ -552,7 +606,12 @@
next.setState(SegmentStateType.WAITING.toString());
}
if (!segmentService.save(next)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("segment failed to save");
+ } else {
+ if (null != jam && i == 0) {
+ jam.setAvoSeg(next.getId());
+ jam.setAvoCode(endCode.getId());
+ }
}
}
@@ -564,7 +623,7 @@
destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
destFuncSta.setUpdateTime(now);
if (!funcStaService.updateById(destFuncSta)) {
- log.error("FuncSta [{}] 鏇存柊鐘舵�佸け璐� 锛侊紒锛�", destFuncSta.getName());
+ log.error("FuncSta [{}] failed to update 锛侊紒锛�", destFuncSta.getName());
}
break;
case MOVE:
@@ -579,11 +638,6 @@
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
return false;
- } finally {
-
- if (lockAcquired) {
- this.lock.unlock();
- }
}
}
@@ -591,39 +645,34 @@
* 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) {
+ 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();
- JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
- Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId())) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
+ 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.getById(agv.getAgvModel());
+ AgvModel agvModel = agvModelService.getByAgvId(agvId);
Double workDirection = agvModel.getWorkDirection();
AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
assert agvSpeedType != null;
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
- assert agvDetail != null;
- if (agvDetail.getPos() == 0) {
- if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅湪瀹氫綅...");
- }
- }
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
List<Action> actionList = new ArrayList<>();
// start node
Code lastCode = codeService.getById(agvDetail.getRecentCode());
+ Double lastDirection = agvDetail.getAgvAngle();
if (!lastCode.getData().equals(pathList.get(0))) {
- throw new CoolException("AGV[" + agv.getUuid() + "]瀹氫綅鍋忕Щ...");
+ throw new CoolException("AGV[" + agvNo + "]瀹氫綅鍋忕Щ...");
}
- Double lastDirection = agvDetail.getAgvAngle();
boolean first = true;
-
for (Segment segment : segmentList) {
// 鍒嗘鎵�灞炵殑Task
@@ -644,15 +693,15 @@
String next = pathListPart.get(i);
- Code nextCode = codeService.selectByData(next);
- Double nextDirection = mapService.calculateDirection(lastCode, nextCode);
+ Code nextCode = codeService.getCacheByData(next);
+ Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
boolean reverse = false;
if (nextDirection.equals((workDirection + 180) % 360)) {
nextDirection = workDirection;
reverse = true;
}
- if (!lastDirection.equals(nextDirection) || actionList.size() == 0) {
+ if (!lastDirection.equals(nextDirection) || actionList.isEmpty()) {
// turn
actionList.add(new Action(
null, // 缂栧彿
@@ -665,7 +714,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -691,7 +740,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(gap.getDistance()), // 鍔ㄤ綔鍙傛暟
actionType.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -717,7 +766,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -748,7 +797,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -757,7 +806,7 @@
// 璐ф灦鍙栬揣
Loc oriLoc = locService.getById(task.getOriLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, oriLoc, lastCode);
+ agvDirectionType = mapService.calculateAgvWorkDirection(oriLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -769,7 +818,7 @@
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
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -785,7 +834,7 @@
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
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -806,7 +855,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -824,7 +873,7 @@
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
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -832,7 +881,7 @@
// 璐ф灦鏀捐揣
Loc destLoc = locService.getById(task.getDestLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, destLoc, lastCode);
+ agvDirectionType = mapService.calculateAgvWorkDirection(destLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -844,7 +893,7 @@
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
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -855,7 +904,7 @@
break;
case TO_CHARGE:
// 妫�楠屾柟鍚�
- FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
+ FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
if (!lastDirection.equals(chargeDirection)) {
actionList.add(new Action(
@@ -869,7 +918,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -888,7 +937,7 @@
lastCode.getData(), // 鍦伴潰鐮�
null, // 鍔ㄤ綔鍙傛暟
ActionTypeType.DockingCharge.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -908,7 +957,7 @@
// lastCode.getData(), // 鍦伴潰鐮�
// String.valueOf(standByDirection), // 鍔ㄤ綔鍙傛暟
// ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
-// ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+// actionPrepareSts, // 鍔ㄤ綔杩涘害
// agvId, // AGV
// now // 宸ヤ綔鏃堕棿
// ));
@@ -935,16 +984,17 @@
lastCode.getData(), // 鍦伴潰鐮�
null, // 鍔ㄤ綔鍙傛暟
ActionTypeType.FinishPath.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- List<Action> newActionList = new ArrayList<>(actionList);
+// List<Action> newActionList = new ArrayList<>(actionList);
// List<Action> optimizeList = actionService.optimizeSort(actionList);
-// List<Action> newActionList = new ArrayList<>(optimizeList);
+ List<Action> optimizeList = actionSorter.optimizeSort(actionList);
+ List<Action> newActionList = new ArrayList<>(optimizeList);
String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);
@@ -966,19 +1016,23 @@
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(agv.getUuid() + "鍙稟gv鍔ㄤ綔缁勮瀹屾垚锛屾寚浠ゆ暟閲忥細" + newActionList.size());
+ 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);
- mapDataDispatcher.clearDynamicMatrixByCodeList(null, pathList);
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, pathList);
+ mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList);
}
throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);
@@ -997,8 +1051,11 @@
if (Cools.isEmpty(actionList)) {
return;
}
+ long actionIssuedSts = ActionStsType.ISSUED.val();
for (Action action : actionList) {
- action.setActionSts(ActionStsType.ISSUED.val());
+ action.setActionSts(actionIssuedSts);
+ action.setStartTime(now);
+ action.setIoTime(now);
action.setUpdateTime(now);
if (!actionService.updateById(action)) {
throw new BusinessException(action.getPriority() + " - " + action.getName() + "鍔ㄤ綔鏇存柊澶辫触");
@@ -1007,17 +1064,18 @@
// 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(TaskStsType.ASSIGN.val())) {
- task.setTaskSts(TaskStsType.PROGRESS.val());
+ 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");
}
}
}
-
Agv agv = agvService.getById(actionList.get(0).getAgvId());
AgvAction agvAction = new AgvAction(agv.getUuid(), actionGroupId);
@@ -1148,6 +1206,7 @@
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());
@@ -1180,6 +1239,7 @@
);
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());
@@ -1201,76 +1261,8 @@
.orderByAsc(Segment::getSerial)
);
- // 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
- 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.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
- trafficService.callback(segmentList);
+ // settlement
+ this.settleSegmentList(segmentList, serialNo);
log.info("Agv [{}] {}浣滀笟瀹屾瘯 ==========>> ", protocol.getAgvNo(), serialNo);
@@ -1285,4 +1277,86 @@
}
}
+ @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);
+ }
+
}
--
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