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/core/service/BaseMainService.java | 442 -------------------------------------------------------
1 files changed, 2 insertions(+), 440 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/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();
- }
- }
/**
--
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