From c514b7d8ad8a3f89b81c949e265446b4f09a4bb5 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 20 十一月 2024 16:46:30 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 112 +++++++++++++++++++++++++++++--------------------------
1 files changed, 59 insertions(+), 53 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index 4fcedee..297d0f4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -22,7 +22,6 @@
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.common.utils.CommonUtil;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.TaskPosDto;
@@ -221,7 +220,7 @@
for (Task task : taskList) {
Agv agv = allocateService.execute(task);
if (null == agv) {
- log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
+// log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
continue;
}
task.setAgvId(agv.getId());
@@ -249,10 +248,15 @@
// valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
if (!agvService.judgeEnable(agv.getId(), true)) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
+ return;
+// throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
}
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 ----------------------------------------------------
@@ -383,48 +387,48 @@
}
// re-order by agv current position
- Code currCode = codeService.getById(agvDetail.getRecentCode());
- Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
-
- List<TaskPosDto> theFirstOne = list.get(0);
- List<TaskPosDto> theLastOne = list.get(list.size() - 1);
-
- if (list.size() == 1) {
- TaskPosDto head = theFirstOne.get(0);
- TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);
-
- int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
- int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());
-
- if (distanceByTail < distanceByHead) {
- Collections.reverse(theFirstOne);
- }
-
- } else {
- TaskPosDto headOfFirst = theFirstOne.get(0);
- TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);
-
- TaskPosDto headOfLast = theLastOne.get(0);
- TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);
-
- int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
- int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());
-
- int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
- int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());
-
- if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
- Collections.reverse(list);
-
- if (distanceByTailOfLast < distanceByHeadOfLast) {
- Collections.reverse(theLastOne);
- }
- } else {
- if (distanceByTailOfFirst < distanceByHeadOfFirst) {
- Collections.reverse(theFirstOne);
- }
- }
- }
+// Code currCode = codeService.getById(agvDetail.getRecentCode());
+// Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
+//
+// List<TaskPosDto> theFirstOne = list.get(0);
+// List<TaskPosDto> theLastOne = list.get(list.size() - 1);
+//
+// if (list.size() == 1) {
+// TaskPosDto head = theFirstOne.get(0);
+// TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);
+//
+// int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
+// int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());
+//
+// if (distanceByTail < distanceByHead) {
+// Collections.reverse(theFirstOne);
+// }
+//
+// } else {
+// TaskPosDto headOfFirst = theFirstOne.get(0);
+// TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);
+//
+// TaskPosDto headOfLast = theLastOne.get(0);
+// TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);
+//
+// int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
+// int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());
+//
+// int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
+// int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());
+//
+// if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
+// Collections.reverse(list);
+//
+// if (distanceByTailOfLast < distanceByHeadOfLast) {
+// Collections.reverse(theLastOne);
+// }
+// } else {
+// if (distanceByTailOfFirst < distanceByHeadOfFirst) {
+// Collections.reverse(theFirstOne);
+// }
+// }
+// }
// generate travel
Travel travel = new Travel();
@@ -491,17 +495,19 @@
* 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(Agv agv, AgvDetail agvDetail, TaskTypeType taskType, String destination) {
+ public boolean buildMinorTask(Agv agv, TaskTypeType taskType, String destination, Jam jam) {
if (Cools.isEmpty(agv, taskType)) { return false; }
try {
- if (null == agvDetail) {
- agvDetail = agvDetailService.selectByAgvId(agv.getId());
- }
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (!agvService.judgeEnable(agv.getId())) {
return false;
}
if (!Cools.isEmpty(taskService.selectInSts(agv.getId(), TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign锛宐ecause already has the task in running...");
+ }
+ 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...");
}
Date now = new Date();
@@ -602,6 +608,10 @@
}
if (!segmentService.save(next)) {
throw new BusinessException("segment failed to save");
+ } else {
+ if (null != jam && i == 0) {
+ jam.setAvoSeg(next.getId());
+ }
}
}
@@ -621,10 +631,6 @@
default:
break;
}
-
-// if (taskType.equals(TaskTypeType.TO_STANDBY)) {
-// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid(), false);
-// }
return true;
} catch (Exception e) {
--
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