From bc64b3b45cf00885696aea4cfa97230390717012 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期二, 17 六月 2025 15:38:59 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java | 6
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/BusController.java | 4
zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java | 12
zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvCompleteSubscriber.java | 4
zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLxtService.java | 679 ++++++++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java | 3
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/BaseMainService.java | 442 ------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java | 4
/dev/null | 51 -
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 8
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainZkdService.java | 890 ------------------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/IBaseMainService.java | 26
zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java | 4
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenController.java | 4
17 files changed, 738 insertions(+), 1,405 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
index b109ac2..a7e2e61 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
@@ -35,7 +35,7 @@
@Autowired
private TaskService taskService;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
index 8f6a78e..ca24d60 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
@@ -49,7 +49,7 @@
@Autowired
private TaskService taskService;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvCompleteSubscriber.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvCompleteSubscriber.java
index 9863260..50d7eb2 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvCompleteSubscriber.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvCompleteSubscriber.java
@@ -3,7 +3,7 @@
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.utils.RedisSupport;
-import com.zy.acs.manager.core.service.MainService;
+import com.zy.acs.manager.core.service.MainLxtService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.boot.context.event.ApplicationReadyEvent;
@@ -23,7 +23,7 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@EventListener(ApplicationReadyEvent.class)
private void start(){
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
index 15f7cbf..5491b80 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
@@ -10,7 +10,7 @@
import com.zy.acs.manager.core.constant.LocGroupConstant;
import com.zy.acs.manager.core.constant.StaGroupConstant;
import com.zy.acs.manager.core.service.MainLockWrapService;
-import com.zy.acs.manager.core.service.MainService;
+import com.zy.acs.manager.core.service.MainLxtService;
import com.zy.acs.manager.core.service.TrafficService;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
@@ -37,7 +37,7 @@
@Autowired
private TaskService taskService;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
index 43d4ac0..cd4e72d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
@@ -3,7 +3,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.manager.core.domain.AgvTaskDto;
import com.zy.acs.manager.core.service.MainLockWrapService;
-import com.zy.acs.manager.core.service.MainService;
+import com.zy.acs.manager.core.service.MainLxtService;
import com.zy.acs.manager.core.service.TrafficService;
import com.zy.acs.manager.manager.entity.Bus;
import com.zy.acs.manager.manager.entity.Segment;
@@ -16,8 +16,6 @@
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.boot.context.event.ApplicationReadyEvent;
-import org.springframework.context.event.EventListener;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
@@ -53,7 +51,7 @@
@Autowired
private TaskService taskService;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
@@ -69,7 +67,7 @@
@Autowired
private AgvModelService agvModelService;
- @Scheduled(cron = "0/1 * * * * ? ")
+ //@Scheduled(cron = "0/1 * * * * ? ")
private void startupBus() throws InterruptedException {
// if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
@@ -80,7 +78,7 @@
this.lock.unlock();
}
- @Scheduled(cron = "0/1 * * * * ? ")
+ //@Scheduled(cron = "0/1 * * * * ? ")
private void calculateSeg() throws InterruptedException {
if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
List<Task> taskList = taskService.selectBySts(TaskStsType.WAITING);
@@ -103,7 +101,7 @@
this.lock.unlock();
}
- @EventListener(ApplicationReadyEvent.class)
+ //@EventListener(ApplicationReadyEvent.class)
public void init() {
try { Thread.sleep(1200); } catch (InterruptedException ignore) {}
// traffic calculate
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
index d5b5c73..cd4cd7f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
@@ -5,7 +5,7 @@
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.core.service.MainLockWrapService;
-import com.zy.acs.manager.core.service.MainService;
+import com.zy.acs.manager.core.service.MainLxtService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -36,7 +36,7 @@
@Autowired
private FuncStaService funcStaService;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
@@ -48,7 +48,7 @@
@Autowired
private SegmentService segmentService;
- @Scheduled(cron = "0/5 * * * * ? ")
+// @Scheduled(cron = "0/5 * * * * ? ")
private synchronized void autoCharge(){
List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
for (Agv agv : agvList) {
@@ -87,7 +87,7 @@
}
- @Scheduled(cron = "0/1 * * * * ? ")
+// @Scheduled(cron = "0/1 * * * * ? ")
// @Scheduled(cron = "0 */2 * * * ? ")
private synchronized void autoStandby(){
if (!configService.getVal("automaticStandbyPosition", Boolean.class)) { return; }
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/BaseMainService.java
similarity index 72%
rename from zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
rename to zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/BaseMainService.java
index c18e9f1..d9c55cb 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/BaseMainService.java
@@ -19,14 +19,10 @@
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;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -41,14 +37,13 @@
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 MainService implements IMainService {
+@Service("baseMainService")
+public class BaseMainService implements IBaseMainService {
@Autowired
private BusService busService;
@@ -96,439 +91,6 @@
private LaneService laneService;
@Autowired
private ActionSorter actionSorter;
-
- @SuppressWarnings("all")
- @Transactional
- public Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) {
- String errorMsg = busService.checkoutValid(busSubmitParam);
- if (!Cools.isEmpty(errorMsg)) {
- throw new BusinessException(errorMsg);
- }
- String batch = busSubmitParam.getBatch();
- List<TaskDto> taskDtoList = busSubmitParam.getTaskList();
- if (Cools.isEmpty(taskDtoList)) {
- 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.validTaskDtoList(taskDtoList);
-
- // 淇濆瓨鎬荤嚎
- Date now = new Date();
- Bus bus = new Bus();
- bus.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- bus.setBusNo(batch);
- bus.setStartTime(now);
- bus.setBusSts(BusStsType.RECEIVE.val());
- bus.setMemo(memo);
-
- if (!busService.save(bus)) {
- throw new BusinessException("Internal Server Error!");
- }
-
- // 淇濆瓨浠诲姟
- for (Task task : taskList) {
- task.setBusId(bus.getId());
- task.setTaskSts(TaskStsType.INIT.val());
- if (!taskService.save(task)) {
- throw new BusinessException("seqNum:" + task.getSeqNum() + " failed to save!");
- }
-
- // 淇敼搴撲綅鐘舵��
- Loc oriLoc = null;
- Loc destLoc = null;
- Sta oriSta = null;
- Sta destSta = null;
- switch (TaskTypeType.get(task.getTaskTypeEl())) {
- case LOC_TO_LOC:
- oriLoc = locService.getById(task.getOriLoc());
- if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
- }
- oriLoc.setLocSts(LocStsType.PAKOUT.val());
- oriLoc.setUpdateTime(now);
- if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
- }
-
- destLoc = locService.getById(task.getDestLoc());
- if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
- }
- destLoc.setLocSts(LocStsType.PAKIN.val());
- destLoc.setUpdateTime(now);
- if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 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$() + " is not in STOCK status");
- }
- oriLoc.setLocSts(LocStsType.PAKOUT.val());
- oriLoc.setUpdateTime(now);
- if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
- }
-
- 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");
- }
- 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");
- }
-
- destLoc = locService.getById(task.getDestLoc());
- if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
- }
- destLoc.setLocSts(LocStsType.PAKIN.val());
- destLoc.setUpdateTime(now);
- if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
- }
- 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");
- }
-
- 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");
- }
- break;
- default:
- break;
- }
-
- }
- return bus;
- }
-
- /**
- * 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 allocateTask(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());
- 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");
- }
- }
- } catch (Exception e) {
- log.error("mainService.infuseAgvForTask", 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, List<Task> taskList) {
- if (Cools.isEmpty(agvId, taskList)) {
- return;
- }
- try {
- // valid -----------------------------------------------
- Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId(), false)) {
- 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...");
- }
- 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 o2.getPriority() - o1.getPriority();
- }
- });
- Integer backpack = agvService.getBackpack(agv);
- if (taskList.size() > backpack) {
- taskList = taskList.subList(0, backpack);
- }
-
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
- List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
-
- /**
- * 鍚屽贩閬撳綊绫�
- * same lane for every single agvId
- *
- * 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<>();
- final String sameGroupXy = configService.getVal("sameGroupXy", String.class);
-
- int backpackLev = 0;
- for (Task task : taskList) {
-
- backpackLev++;
- Code startCode = null;
- Code endCode = null;
- Loc oriLoc = null;
- Loc destLoc = null;
- Sta oriSta = null;
- Sta destSta = null;
- 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());
- endCode = codeService.getCacheById(destLoc.getCode());
-
- TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
- TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
- break;
- case LOC_TO_STA:
- oriLoc = locService.getById(task.getOriLoc());
- destSta = staService.getById(task.getDestSta());
-
- startCode = codeService.getCacheById(oriLoc.getCode());
- endCode = codeService.getCacheById(destSta.getCode());
-
- TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
- TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
- break;
- case STA_TO_LOC:
- oriSta = staService.getById(task.getOriSta());
- destLoc = locService.getById(task.getDestLoc());
-
- startCode = codeService.getCacheById(oriSta.getCode());
- endCode = codeService.getCacheById(destLoc.getCode());
-
- TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
- TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
- break;
- case STA_TO_STA:
- oriSta = staService.getById(task.getOriSta());
- destSta = staService.getById(task.getDestSta());
-
- startCode = codeService.getCacheById(oriSta.getCode());
- endCode = codeService.getCacheById(destSta.getCode());
-
- TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
- TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
- break;
- default:
- throw new BusinessException(task.getSeqNum() + "浠诲姟绫诲瀷閿欒");
-
- }
-
- if (backpackLev > backpack) {
- throw new BusinessException("瑙ｆ瀽Task澶辫触,AGV鑳岀瘬宸叉弧......");
- }
-
- backpackDtoList.add(new AgvBackpackDto(backpackLev, task.getId()));
- }
-
- /**
- * 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) -> {
- double o1CompVal = (o1.get(0).getFirstWeight(sameGroupXy) * 100) + o1.get(0).getPosType().compOffset;
- 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.getCacheById(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();
- travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- travel.setAgvId(agvId);
- travel.setTaskContent(JSON.toJSONString(list));
- 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();
- }
- }
/**
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/IBaseMainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/IBaseMainService.java
new file mode 100644
index 0000000..67f3776
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/IBaseMainService.java
@@ -0,0 +1,26 @@
+package com.zy.acs.manager.core.service;
+
+import com.zy.acs.common.domain.AgvProtocol;
+import com.zy.acs.manager.manager.entity.Segment;
+
+import java.util.Date;
+import java.util.List;
+
+/**
+ * Created by vincent on 2023/6/14
+ */
+public interface IBaseMainService {
+
+
+ /**
+ * 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� )
+ */
+ void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime);
+
+ void publishAction(String actionGroupId);
+
+ void upDataSubscribe(AgvProtocol protocol);
+
+ void settleSegmentList(List<Segment> segmentList, String serialNo);
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/IMainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/IMainService.java
deleted file mode 100644
index 66db355..0000000
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/IMainService.java
+++ /dev/null
@@ -1,51 +0,0 @@
-package com.zy.acs.manager.core.service;
-
-import com.zy.acs.common.domain.AgvProtocol;
-import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
-import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
-import com.zy.acs.manager.manager.entity.Bus;
-import com.zy.acs.manager.manager.entity.Jam;
-import com.zy.acs.manager.manager.entity.Segment;
-import com.zy.acs.manager.manager.entity.Task;
-import com.zy.acs.manager.manager.enums.TaskTypeType;
-
-import java.util.Date;
-import java.util.List;
-
-/**
- * Created by vincent on 2023/6/14
- */
-public interface IMainService {
-
-
- //Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo);
-
- /**
- * 浠诲姟鍒嗛厤缁欒溅杈� ( 杞﹁締姝ゆ椂鏄┖闂蹭笖闈欐鐨� )
- */
- void allocateTask(Bus bus);
-
- /**
- * 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)}
- */
- void buildMajorTask(Long agvId, List<Task> taskList);
-
-
- /**
- * 鍏呯數 鍥炲緟鏈轰綅浠诲姟
- */
- //boolean buildMinorTask(Long agvId, TaskTypeType taskType, String destination, Jam jam);
-
- /**
- * 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� )
- */
- void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime);
-
- void publishAction(String actionGroupId);
-
- void upDataSubscribe(AgvProtocol protocol);
-
- void settleSegmentList(List<Segment> segmentList, String serialNo);
-
-}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java
index 0021542..e686e2e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java
@@ -1,7 +1,6 @@
package com.zy.acs.manager.core.service;
import com.zy.acs.framework.exception.CoolException;
-import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.enums.TaskTypeType;
@@ -25,7 +24,7 @@
private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
public void buildMajorTask(Long agvId, List<Task> taskList) {
boolean lockAcquired = false;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLxtService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLxtService.java
new file mode 100644
index 0000000..945fa4c
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLxtService.java
@@ -0,0 +1,679 @@
+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.enums.AgvBackpackType;
+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;
+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.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 MainLxtService extends BaseMainService {
+
+ @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;
+
+ @SuppressWarnings("all")
+ @Transactional
+ public Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) {
+ String errorMsg = busService.checkoutValid(busSubmitParam);
+ if (!Cools.isEmpty(errorMsg)) {
+ throw new BusinessException(errorMsg);
+ }
+ String batch = busSubmitParam.getBatch();
+ List<TaskDto> taskDtoList = busSubmitParam.getTaskList();
+ if (Cools.isEmpty(taskDtoList)) {
+ 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.validTaskDtoList(taskDtoList);
+
+ // 淇濆瓨鎬荤嚎
+ Date now = new Date();
+ Bus bus = new Bus();
+ bus.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ bus.setBusNo(batch);
+ bus.setStartTime(now);
+ bus.setBusSts(BusStsType.RECEIVE.val());
+ bus.setMemo(memo);
+
+ if (!busService.save(bus)) {
+ throw new BusinessException("Internal Server Error!");
+ }
+
+ // 淇濆瓨浠诲姟
+ for (Task task : taskList) {
+ task.setBusId(bus.getId());
+ task.setTaskSts(TaskStsType.INIT.val());
+ if (!taskService.save(task)) {
+ throw new BusinessException("seqNum:" + task.getSeqNum() + " failed to save!");
+ }
+
+ // 淇敼搴撲綅鐘舵��
+ Loc oriLoc = null;
+ Loc destLoc = null;
+ Sta oriSta = null;
+ Sta destSta = null;
+ switch (TaskTypeType.get(task.getTaskTypeEl())) {
+ case LOC_TO_LOC:
+ oriLoc = locService.getById(task.getOriLoc());
+ if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
+ }
+ oriLoc.setLocSts(LocStsType.PAKOUT.val());
+ oriLoc.setUpdateTime(now);
+ if (!locService.updateById(oriLoc)) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
+ }
+
+ destLoc = locService.getById(task.getDestLoc());
+ if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
+ }
+ destLoc.setLocSts(LocStsType.PAKIN.val());
+ destLoc.setUpdateTime(now);
+ if (!locService.updateById(destLoc)) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 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$() + " is not in STOCK status");
+ }
+ oriLoc.setLocSts(LocStsType.PAKOUT.val());
+ oriLoc.setUpdateTime(now);
+ if (!locService.updateById(oriLoc)) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
+ }
+
+ 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");
+ }
+ 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");
+ }
+
+ destLoc = locService.getById(task.getDestLoc());
+ if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
+ }
+ destLoc.setLocSts(LocStsType.PAKIN.val());
+ destLoc.setUpdateTime(now);
+ if (!locService.updateById(destLoc)) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
+ }
+ 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");
+ }
+
+ 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");
+ }
+ break;
+ default:
+ break;
+ }
+
+ }
+ return bus;
+ }
+
+ /**
+ * 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 allocateTask(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());
+ 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");
+ }
+ }
+ } catch (Exception e) {
+ log.error("mainService.infuseAgvForTask", 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, List<Task> taskList) {
+ if (Cools.isEmpty(agvId, taskList)) {
+ return;
+ }
+ try {
+ // valid -----------------------------------------------
+ Agv agv = agvService.getById(agvId);
+ if (!agvService.judgeEnable(agv.getId(), false)) {
+ 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...");
+ }
+ 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 o2.getPriority() - o1.getPriority();
+ }
+ });
+ Integer backpack = agvService.getBackpack(agv);
+ if (taskList.size() > backpack) {
+ taskList = taskList.subList(0, backpack);
+ }
+
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
+ List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
+
+ /**
+ * 鍚屽贩閬撳綊绫�
+ * same lane for every single agvId
+ *
+ * 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<>();
+ final String sameGroupXy = configService.getVal("sameGroupXy", String.class);
+
+ int backpackLev = 0;
+ for (Task task : taskList) {
+
+ backpackLev++;
+ Code startCode = null;
+ Code endCode = null;
+ Loc oriLoc = null;
+ Loc destLoc = null;
+ Sta oriSta = null;
+ Sta destSta = null;
+ 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());
+ endCode = codeService.getCacheById(destLoc.getCode());
+
+ TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
+ TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
+ break;
+ case LOC_TO_STA:
+ oriLoc = locService.getById(task.getOriLoc());
+ destSta = staService.getById(task.getDestSta());
+
+ startCode = codeService.getCacheById(oriLoc.getCode());
+ endCode = codeService.getCacheById(destSta.getCode());
+
+ TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
+ TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
+ break;
+ case STA_TO_LOC:
+ oriSta = staService.getById(task.getOriSta());
+ destLoc = locService.getById(task.getDestLoc());
+
+ startCode = codeService.getCacheById(oriSta.getCode());
+ endCode = codeService.getCacheById(destLoc.getCode());
+
+ TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
+ TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
+ break;
+ case STA_TO_STA:
+ oriSta = staService.getById(task.getOriSta());
+ destSta = staService.getById(task.getDestSta());
+
+ startCode = codeService.getCacheById(oriSta.getCode());
+ endCode = codeService.getCacheById(destSta.getCode());
+
+ TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
+ TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
+ break;
+ default:
+ throw new BusinessException(task.getSeqNum() + "浠诲姟绫诲瀷閿欒");
+
+ }
+
+ if (backpackLev > backpack) {
+ throw new BusinessException("瑙ｆ瀽Task澶辫触,AGV鑳岀瘬宸叉弧......");
+ }
+
+ backpackDtoList.add(new AgvBackpackDto(backpackLev, task.getId()));
+ }
+
+ /**
+ * 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) -> {
+ double o1CompVal = (o1.get(0).getFirstWeight(sameGroupXy) * 100) + o1.get(0).getPosType().compOffset;
+ 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.getCacheById(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();
+ travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ travel.setAgvId(agvId);
+ travel.setTaskContent(JSON.toJSONString(list));
+ 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();
+ }
+ }
+
+
+ /**
+ * 鍏呯數 鍥炲緟鏈轰綅浠诲姟
+ */
+ @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 {
+ String agvNo = agvService.getAgvNo(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();
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
+ Code endCode = null;
+ switch (taskType) {
+ case TO_CHARGE:
+ case TO_STANDBY:
+ List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agvId);
+ if (!Cools.isEmpty(idleFunStaList)) {
+ FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
+ endCode = codeService.getCacheById(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.getCacheByData(destination);
+ break;
+ default:
+ return false;
+ }
+
+ if (null == endCode) {
+ 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(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() + " 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(agvId);
+// travel.setTaskContent(JSON.toJSONString(list));
+ travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
+ travel.setState(TravelStateType.RUNNING.toString());
+ if (!travelService.save(travel)) {
+ throw new BusinessException("travel failed to save");
+ }
+
+ // generate segment
+ int segSerial = 0;
+ segSerial++;
+ List<Segment> segmentList = new ArrayList<>();
+
+ String posType = "";
+ switch (taskType) {
+ case TO_CHARGE:
+ posType = TaskPosDto.PosType.TO_CHARGE.toString();
+ break;
+ case TO_STANDBY:
+ posType = TaskPosDto.PosType.TO_STANDBY.toString();
+ break;
+ case MOVE:
+ posType = TaskPosDto.PosType.MOVE.toString();
+ break;
+ default:
+ break;
+ }
+
+ Segment segment = new Segment();
+ segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ segment.setTravelId(travel.getId());
+ segment.setAgvId(agvId);
+ segment.setTaskId(task.getId());
+ segment.setSerial(segSerial);
+ segment.setEndNode(endCode.getId());
+ segment.setPosType(posType);
+ segment.setState(SegmentStateType.INIT.toString());
+ segmentList.add(segment);
+
+ for (int i = 0; i < segmentList.size(); i++) {
+ Segment next = segmentList.get(i);
+ if (i == 0) {
+ next.setState(SegmentStateType.WAITING.toString());
+ }
+ if (!segmentService.save(next)) {
+ throw new BusinessException("segment failed to save");
+ } else {
+ if (null != jam && i == 0) {
+ jam.setAvoSeg(next.getId());
+ jam.setAvoCode(endCode.getId());
+ }
+ }
+ }
+
+ switch (taskType) {
+ case TO_CHARGE:
+ case TO_STANDBY:
+ // funcSta
+ FuncSta destFuncSta = funcStaService.getByCodeAndType(task.getDestCode(), FuncStaType.query(taskType).toString());
+ destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
+ destFuncSta.setUpdateTime(now);
+ if (!funcStaService.updateById(destFuncSta)) {
+ log.error("FuncSta [{}] failed to update 锛侊紒锛�", destFuncSta.getName());
+ }
+ break;
+ case MOVE:
+ break;
+ default:
+ break;
+ }
+
+ return true;
+ } catch (Exception e) {
+ log.error("mainService.buildMinorTask[task]", e);
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+
+ return false;
+ }
+ }
+
+
+}
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
index 284c70c..04391b8 100644
--- 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
@@ -2,24 +2,10 @@
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.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;
@@ -28,7 +14,6 @@
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;
@@ -38,7 +23,10 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.*;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.Objects;
import java.util.stream.Collectors;
/**
@@ -46,7 +34,7 @@
*/
@Slf4j
@Service("zkdMainService")
-public class MainZkdService implements IMainService {
+public class MainZkdService extends BaseMainService {
@Autowired
private BusService busService;
@@ -182,7 +170,6 @@
}
-
/**
* 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)}
@@ -243,872 +230,5 @@
}
}
-
- /**
- * 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/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 775f301..30cd237 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -52,7 +52,7 @@
@Autowired
private SegmentService segmentService;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
index 9a7a5b7..a433b4d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
@@ -8,7 +8,7 @@
import com.zy.acs.manager.core.domain.CodeStepDto;
import com.zy.acs.manager.core.domain.type.JobType;
import com.zy.acs.manager.core.scheduler.MapDataWsScheduler;
-import com.zy.acs.manager.core.service.MainService;
+import com.zy.acs.manager.core.service.MainLxtService;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.manager.entity.Action;
import com.zy.acs.manager.manager.entity.Agv;
@@ -34,7 +34,7 @@
private final CodeService codeService;
private final MapService mapService;
private final JamService jamService;
- private final MainService mainService;
+ private final MainLxtService mainService;
private final List<Action> actionList;
private final RedisSupport redis;
@@ -50,7 +50,7 @@
, CodeService codeService
, MapService mapService
, JamService jamService
- , MainService mainService
+ , MainLxtService mainService
, List<Action> actionList
) {
this.agv = agv;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
index 0457ea7..49dce9b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
@@ -7,7 +7,7 @@
import com.zy.acs.common.domain.protocol.AGV_01_UP;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
-import com.zy.acs.manager.core.service.MainService;
+import com.zy.acs.manager.core.service.MainLxtService;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.manager.entity.Action;
import com.zy.acs.manager.manager.entity.Agv;
@@ -67,7 +67,7 @@
@Autowired
private JamService jamService;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@PostConstruct
public void init() {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/BusController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/BusController.java
index d959c93..57c5649 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/BusController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/BusController.java
@@ -9,7 +9,7 @@
import com.zy.acs.manager.common.domain.*;
import com.zy.acs.manager.common.utils.BusinessSortService;
import com.zy.acs.manager.common.utils.ExcelUtil;
-import com.zy.acs.manager.core.service.MainService;
+import com.zy.acs.manager.core.service.MainLxtService;
import com.zy.acs.manager.manager.controller.param.BusCreateParam;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.Bus;
@@ -37,7 +37,7 @@
@Autowired
private BusService busService;
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@Autowired
private StaService staService;
@Autowired
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenController.java
index 1711b4d..2fc2715 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenController.java
@@ -3,7 +3,7 @@
import com.zy.acs.manager.common.annotation.OperationLog;
import com.zy.acs.framework.common.R;
import com.zy.acs.manager.system.controller.BaseController;
-import com.zy.acs.manager.core.service.MainService;
+import com.zy.acs.manager.core.service.MainLxtService;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import io.swagger.annotations.Api;
import org.springframework.beans.factory.annotation.Autowired;
@@ -22,7 +22,7 @@
public class OpenController extends BaseController {
@Autowired
- private MainService mainService;
+ private MainLxtService mainService;
@PreAuthorize("hasAuthority('open:bus:submit')")
@PostMapping("/bus/submit")
--
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