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/MainZkdService.java | 890 -----------------------------------------------------------
1 files changed, 5 insertions(+), 885 deletions(-)
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);
- }
}
--
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