From a71d7a7a4b437a718e68ec41dcecd30ee7ff55e7 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期日, 04 一月 2026 09:45:30 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 410 +++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 346 insertions(+), 64 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 9e7f54a..513df59 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
@@ -2,19 +2,20 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
+import com.zy.acs.common.constant.RedisConstant;
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.*;
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.common.utils.GsonUtils;
+import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -49,6 +50,8 @@
@Slf4j
@Service("mainService")
public class MainService {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@Autowired
private BusService busService;
@@ -98,6 +101,8 @@
private ActionSorter actionSorter;
@Autowired
private StaReserveService staReserveService;
+ @Autowired
+ private ConveyorStationService conveyorStationService;
@SuppressWarnings("all")
@Transactional
@@ -177,29 +182,15 @@
throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
}
- // reserver station inbound, qty: 1
destSta = staService.getById(task.getDestSta());
if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to reserve");
}
-// if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
-// throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
-// }
-// destSta.setStaSts(StaStsType.READY_RELEASE.val());
-// destSta.setUpdateTime(now);
-// if (!staService.updateById(destSta)) {
-// throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to update");
-// }
break;
case STA_TO_LOC:
oriSta = staService.getById(task.getOriSta());
- if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
- }
- oriSta.setStaSts(StaStsType.READY_TAKE.val());
- oriSta.setUpdateTime(now);
- if (!staService.updateById(oriSta)) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to update");
+ if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to reserve");
}
destLoc = locService.getById(task.getDestLoc());
@@ -214,23 +205,13 @@
break;
case STA_TO_STA:
oriSta = staService.getById(task.getOriSta());
- if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
- }
- oriSta.setStaSts(StaStsType.READY_TAKE.val());
- oriSta.setUpdateTime(now);
- if (!staService.updateById(oriSta)) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to update");
+ if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to reserve");
}
destSta = staService.getById(task.getDestSta());
- if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
- throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
- }
- destSta.setStaSts(StaStsType.READY_RELEASE.val());
- destSta.setUpdateTime(now);
- if (!staService.updateById(destSta)) {
- throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to update");
+ if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to reserve");
}
break;
default:
@@ -265,20 +246,220 @@
return;
}
- List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
- for (Task task : taskList) {
- Agv agv = allocateService.execute(task);
- if (null == agv) {
-// log.warn("Task[{}] has an issue锛� because it failed to check out 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("seqNum: " + task.getSeqNum() + " failed to update");
- }
+// List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
+ for (Task t : taskList) {
+ String resultAgvNo = allocateService.execute(t
+ // inbound
+ , (task, agvNo, sta) -> {
+ Long agvId = agvService.getAgvId(agvNo);
+
+// List<Travel> travelList = travelService.list(new LambdaQueryWrapper<Travel>()
+// .eq(Travel::getAgvId, agvId)
+// .eq(Travel::getState, TravelStateType.RUNNING.toString())
+// .orderByDesc(Travel::getCreateTime));
+// if (Cools.isEmpty(travelList)) {
+// throw new BusinessException("[Agv: " + agvNo + "]allocate inbound failed to find travel");
+// }
+// Travel travel = travelList.get(0);
+//
+// List<Segment> currSegments = segmentService.list(new LambdaQueryWrapper<Segment>()
+// .eq(Segment::getAgvId, agvId)
+// .eq(Segment::getTravelId, travel.getId())
+// );
+ // load segment
+ Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
+ if (null == currSeg) {
+ throw new BusinessException("[Agv:" + agvNo + "] allocate inbound failed: no roller waiting segment");
+ }
+
+ // get backpack lev
+ int backpackLev = 0;
+ int backpack = agvService.getBackpack(agvId);
+ List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
+ if (usedBackpacks.size() >= backpack) {
+ throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
+ }
+ for (int lev = 1; lev <= backpack; lev++) {
+ if (!usedBackpacks.contains(lev)) {
+ backpackLev = lev;
+ break;
+ }
+ }
+ if (backpackLev == 0) {
+ throw new BusinessException("[Agv:" + agvNo + "] backpack full, can't allocate inbound");
+ }
+
+ // update curr seg
+ currSeg.setState(SegmentStateType.INIT.toString());
+ currSeg.setUpdateTime(now);
+ if (!segmentService.updateById(currSeg)) {
+// log.error("Segment [{}] failed to update 锛侊紒锛�", currSeg.getGroupId() + " - " + currSeg.getSerial());
+ throw new CoolException("failed to update segment [" + currSeg.getGroupId() + "-" + currSeg.getSerial() + "] failed");
+ }
+
+ // new oriSta seg
+ Segment loadSeg = new Segment();
+ loadSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ loadSeg.setTravelId(currSeg.getTravelId());
+ loadSeg.setAgvId(agvId);
+ loadSeg.setTaskId(task.getId());
+ loadSeg.setSerial(currSeg.getSerial() - 1);
+ loadSeg.setEndNode(sta.getCode());
+ loadSeg.setPosType(TaskPosDto.PosType.ORI_STA.toString());
+ loadSeg.setState(SegmentStateType.WAITING.toString());
+ loadSeg.setBackpack(backpackLev);
+ loadSeg.setCreateTime(now);
+ loadSeg.setUpdateTime(now);
+ if (!segmentService.save(loadSeg)) {
+// log.error("Segment [{}] failed to save 锛侊紒锛�", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
+ throw new CoolException("failed to save segment [" + loadSeg.getGroupId() + "-" + loadSeg.getSerial() + "] failed");
+ }
+
+ // place segment
+ TaskTypeType taskType = Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()));
+ TaskPosDto.PosType posType;
+ Code endCode;
+ switch (taskType) {
+ case STA_TO_LOC:
+ posType = TaskPosDto.PosType.DEST_LOC;
+ Loc destLoc = locService.getById(task.getDestLoc());
+ endCode = codeService.getCacheById(destLoc.getCode());
+ break;
+ case STA_TO_STA:
+ posType = TaskPosDto.PosType.DEST_STA;
+ Sta destSta = staService.getById(task.getDestSta());
+ endCode = codeService.getCacheById(destSta.getCode());
+ break;
+ default:
+ throw new BusinessException("[Agv:" + agvNo + "] allocate inbound only supports STA_TO_LOC/STA_TO_STA");
+ }
+
+ // calc placeSeg serial, through code position
+ List<Segment> destSegList = segmentService.list(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getTravelId, currSeg.getTravelId())
+ .ne(Segment::getState, SegmentStateType.FINISH.toString())
+ .in(Segment::getPosType,
+ TaskPosDto.PosType.DEST_LOC.toString(),
+ TaskPosDto.PosType.DEST_STA.toString())
+ .orderByAsc(Segment::getSerial)
+ );
+
+ // build destPosList and sort
+ List<TaskPosDto> destPosList = new ArrayList<>();
+ for (Segment destSeg : destSegList) {
+ Code code = codeService.getCacheById(destSeg.getEndNode());
+ if (code == null) continue;
+
+ TaskPosDto dto = new TaskPosDto(destSeg.getTaskId(), new Double[]{code.getX(), code.getY()}, TaskPosDto.PosType.DEST_LOC);
+ dto.setCodeId(code.getId());
+ dto.setSegId(destSeg.getId());
+ destPosList.add(dto);
+ }
+ TaskPosDto newDto = new TaskPosDto(task.getId(), new Double[]{endCode.getX(), endCode.getY()}, TaskPosDto.PosType.DEST_LOC);
+ newDto.setCodeId(endCode.getId());
+ destPosList.add(newDto);
+
+ destPosList.sort((a, b) -> {
+ int c1 = Double.compare(a.getXy()[0], b.getXy()[0]); // X
+ if (c1 != 0) return c1;
+ int c2 = Double.compare(a.getXy()[1], b.getXy()[1]); // Y
+ if (c2 != 0) return c2;
+ // 鍚屽潗鏍囨椂鐢� taskId 鎵撴暎锛堥伩鍏嶆帓搴忎笉绋冲畾锛�
+ return Long.compare(a.getTaskId(), b.getTaskId());
+ });
+
+ // get placeSeg serial
+ int placeSegSerial;
+ // query placeSeg idx
+ int idx = -1;
+ for (int i = 0; i < destPosList.size(); i++) {
+ if (Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())
+ && Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())) {
+ idx = i;
+ break;
+ }
+ }
+ if (idx < 0) {
+ throw new BusinessException("failed to locate new destination in sorted list");
+ }
+
+ // 鍚庣户鐐�
+ if (idx + 1 == destPosList.size()) {
+ placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
+ } else {
+ TaskPosDto afterTaskPos = destPosList.get(idx + 1);
+ Segment afterSeg = destSegList.stream()
+ .filter(destSeg -> Objects.equals(destSeg.getId(), afterTaskPos.getSegId()))
+ .findFirst()
+ .orElse(null);
+ if (null == afterSeg) {
+ placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
+ } else {
+ placeSegSerial = afterSeg.getSerial();
+ }
+ }
+// placeSegSerial = Math.max(placeSegSerial, currSeg.getSerial() + 1);
+
+ // shift serial after
+ segmentService.update(new LambdaUpdateWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getTravelId, currSeg.getTravelId())
+ .ge(Segment::getSerial, placeSegSerial)
+ .ne(Segment::getState, SegmentStateType.FINISH.toString())
+ .setSql("serial = serial + 1")
+ .set(Segment::getUpdateTime, now)
+ );
+
+ // save place segment
+ Segment placeSeg = new Segment();
+ placeSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ placeSeg.setTravelId(currSeg.getTravelId());
+ placeSeg.setAgvId(agvId);
+ placeSeg.setTaskId(task.getId());
+ placeSeg.setSerial(placeSegSerial);
+ placeSeg.setEndNode(endCode.getId());
+ placeSeg.setPosType(posType.toString());
+ placeSeg.setState(SegmentStateType.INIT.toString());
+ placeSeg.setBackpack(backpackLev);
+ placeSeg.setCreateTime(now);
+ placeSeg.setUpdateTime(now);
+ if (!segmentService.save(placeSeg)) {
+// log.error("Segment [{}] failed to save 锛侊紒锛�", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
+ throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
+ }
+
+ // update task
+ task.setAgvId(agvId);
+ task.setTaskSts(TaskStsType.ASSIGN.val());
+ task.setIoTime(now);
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+ }
+ }
+ // normal
+ , (task, agvNo, sta) -> {
+ Long agvId = agvService.getAgvId(agvNo);
+ task.setAgvId(agvId);
+ task.setTaskSts(TaskStsType.WAITING.val());
+ task.setIoTime(now);
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+ }
+ });
+// if (Cools.isEmpty(agvNo)) {
+//// log.warn("Task[{}] has an issue锛� because it failed to check out agv which is idle...", task.getSeqNum());
+// continue;
+// }
+// task.setAgvId(agvService.getAgvId(agvNo));
+// 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.infuseAgvForTask", e);
@@ -316,7 +497,7 @@
return o2.getPriority() - o1.getPriority();
}
});
- Integer backpack = agvService.getBackpack(agv);
+ Integer backpack = agvService.getBackpack(agvId);
if (taskList.size() > backpack) {
taskList = taskList.subList(0, backpack);
}
@@ -481,6 +662,8 @@
travel.setTaskContent(JSON.toJSONString(list));
travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList())));
travel.setState(TravelStateType.RUNNING.toString());
+ travel.setCreateTime(now);
+ travel.setUpdateTime(now);
if (!travelService.save(travel)) {
throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
}
@@ -504,6 +687,8 @@
segment.setPosType(taskPosDto.getPosType().toString());
segment.setBackpack(backpackType.lev);
segment.setState(SegmentStateType.INIT.toString());
+ segment.setCreateTime(now);
+ segment.setUpdateTime(now);
segmentList.add(segment);
}
}
@@ -1186,6 +1371,38 @@
List<Action> newActionList = actionSorter.optimizeSort(actionList);
String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);
+ // update segment
+ for (Segment item : segmentList) {
+ LambdaUpdateWrapper<Segment> uw = new LambdaUpdateWrapper<Segment>()
+ .eq(Segment::getId, item.getId())
+ .eq(Segment::getState, item.getState())
+ .set(Segment::getGroupId, groupId)
+ .set(Segment::getState, SegmentStateType.RUNNING.toString())
+ .set(Segment::getStartTime, now)
+ .set(Segment::getUpdateTime, now);
+ if (algoStartTime != null) {
+ uw.set(Segment::getAlgoTime, (int) (now.getTime() - algoStartTime.getTime()));
+ }
+ if (!segmentService.update(uw)) {
+ // segment 鍘熷瓙鎬т繚璇�
+ throw new CoolException("鏇存柊Segment澶辫触: segmentId=" + item.getId() + " state not WAITING");
+ }
+ }
+
+ // update segment
+// for (Segment item : segmentList) {
+// item.setGroupId(groupId);
+// item.setState(SegmentStateType.RUNNING.toString());
+// item.setStartTime(now);
+// 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");
+// }
+// }
+
// save action
int i = newActionList.size();
for (Action action : newActionList) {
@@ -1196,20 +1413,6 @@
}
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.setStartTime(now);
- 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());
@@ -1483,6 +1686,86 @@
}
}
+ // 鍙栨斁璐ц姹傚寘
+ if (msgBody instanceof AGV_06_UP) {
+ AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;
+ log.info("Agv [{}] 鍙栨斁璐ц姹傚寘 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));
+
+ boolean success = false;
+
+ try {
+ Code code = codeService.getCacheByData(agv_06_up.getQrCode());
+
+ // query current segment
+ Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
+ if (null == currSeg) {
+ log.error("failed to find curr segment [{}]", agv.getUuid());
+ } else {
+
+ // query current task
+ Task currTask = taskService.getById(currSeg.getTaskId());
+ if (currTask == null || !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {
+
+ log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
+ } else {
+
+ Sta sta;
+ TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
+ assert null != posType;
+ switch (posType) {
+ case ORI_LOC:
+ case DEST_LOC:
+ success = true;
+ break;
+ case ORI_STA:
+ // load from sta
+ sta = staService.getById(currTask.getOriSta());
+ // reserve to be waiting
+ if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
+ break;
+ }
+ // convey plc valid
+ if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT)) {
+ // reserve rollback
+ staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
+ break;
+ }
+ success = true;
+ break;
+ case DEST_STA:
+ // place to sta
+ sta = staService.getById(currTask.getDestSta());
+ // reserve to be waiting
+ if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN)) {
+ break;
+ }
+ // convey plc valid
+ if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.IN)) {
+ // reserve rollback
+ staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
+ break;
+ }
+ success = true;
+ break;
+ default:
+ log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
+ break;
+ }
+ }
+ }
+
+ } catch (Exception e) {
+ log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
+ }
+
+ AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
+ agv_06_down.setSerialNo(agv_06_up.getSerialNo());
+ agv_06_down.setActionCode(agv_06_up.getActionCode());
+ agv_06_down.setResult(success ? 1 : 0);
+
+ redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
+ }
+
// 鏂欎粨淇℃伅鍖�
if (msgBody instanceof AGV_70_UP) {
AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;
@@ -1530,14 +1813,13 @@
}
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 {
+ taskService.maintainLocAndSta(task);
log.info("Task [{}] 浣滀笟瀹屾瘯 ==========>> ", task.getSeqNum());
}
--
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