From d58a5160d46bd0f83fdd73e9e49061b33e1d241b Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 15 一月 2026 15:21:50 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java | 213 ++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 193 insertions(+), 20 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
index 11d3248..25c6b9b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
@@ -2,18 +2,19 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.framework.exception.CoolException;
+import com.zy.acs.manager.common.exception.BusinessException;
+import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.manager.controller.result.MissionVo;
-import com.zy.acs.manager.manager.entity.Action;
-import com.zy.acs.manager.manager.entity.AgvDetail;
-import com.zy.acs.manager.manager.entity.Code;
-import com.zy.acs.manager.manager.entity.Segment;
-import com.zy.acs.manager.manager.enums.SegmentStateType;
+import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
+import org.apache.ibatis.session.SqlSession;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
-import java.util.ArrayList;
-import java.util.List;
+import java.util.*;
import java.util.stream.Collectors;
/**
@@ -30,6 +31,12 @@
private CodeService codeService;
@Autowired
private AgvDetailService agvDetailService;
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private BusService busService;
+ @Autowired
+ private SqlSession sqlSession;
@Override
public List<MissionVo> getList(Long agvId, String groupNo) {
@@ -50,11 +57,33 @@
if (Cools.isEmpty(groupNo)) {
return null;
}
+ // segment -------------------------------
List<Segment> list = segmentService.list(new LambdaQueryWrapper<Segment>().eq(Segment::getGroupId, groupNo).orderByAsc(Segment::getSerial));
if (Cools.isEmpty(list)) {
return null;
}
Segment segment = list.get(0);
+
+ // agv -------------------------------
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(segment.getAgvId());
+ Long recentCode = agvDetail.getRecentCode();
+ String currCode = null;
+ if (null != recentCode) {
+ Code cacheById = codeService.getCacheById(recentCode);
+ if (cacheById != null) {
+ currCode = cacheById.getData();
+ } else {
+ throw new CoolException(segment.getAgvId() + "灏忚溅杩樺湪鍒犻櫎鐨勭偣浣嶄腑");
+ }
+
+ }
+
+ // action -------------------------------
+ List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
+ .eq(Action::getGroupId, groupNo).ne(Action::getActionSts, ActionStsType.EXPIRED.val()).orderByDesc(Action::getPriority));
+ if (Cools.isEmpty(actionList)) {
+ return null;
+ }
MissionVo vo = new MissionVo();
vo.setGroupNo(groupNo);
@@ -64,32 +93,176 @@
vo.setTaskNos(list.stream().map(Segment::getTaskId$).collect(Collectors.toList()));
vo.setBackpack(segment.getBackpack());
vo.setDestCode(segment.getEndNode$());
- vo.setProgress(calcProgress(groupNo));
+ vo.setCurrCode(currCode);
+ vo.setProgress(calcProgress(currCode, actionList));
return vo;
}
- public Double calcProgress(String groupNo) {
- double progress = 0D;
+ @Override
+ public MissionVo generateVoMoreInfo(String groupNo) {
+ MissionVo vo = generateVo(groupNo);
+ if (null == vo) {
+ return vo;
+ }
+ List<Segment> list = segmentService.list(new LambdaQueryWrapper<Segment>().eq(Segment::getGroupId, groupNo).orderByAsc(Segment::getSerial));
+ if (Cools.isEmpty(list)) {
+ return null;
+ }
List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
- .eq(Action::getGroupId, groupNo).
- orderByDesc(Action::getPriority));
-
+ .eq(Action::getGroupId, groupNo).ne(Action::getActionSts, ActionStsType.EXPIRED.val()).orderByDesc(Action::getPriority));
if (Cools.isEmpty(actionList)) {
- return progress;
+ return null;
}
+ Segment segment = list.get(0);
Action action = actionList.get(0);
- AgvDetail agvDetail = agvDetailService.selectByAgvId(action.getAgvId());
- Long recentCode = agvDetail.getRecentCode();
- if (null == recentCode) {
+ Task task = taskService.getById(segment.getTaskId());
+// vo.setSendTime(action.getStartTime());
+ vo.setBusNo(task.getBusId$());
+ vo.setActionCount(actionList.size());
+ vo.setTaskIds(list.stream().map(Segment::getTaskId).collect(Collectors.toList()));
+ vo.setCodeList(actionList.stream().map(Action::getCode).distinct().collect(Collectors.toList()));
+ vo.setActionIds(actionList.stream().map(Action::getId).collect(Collectors.toList()));
+ return vo;
+ }
+
+ @Override
+ @Transactional
+ public Boolean resend(List<Action> actionList) {
+ if (Cools.isEmpty(actionList)) {
+ return Boolean.FALSE;
+ }
+ Date now = new Date();
+
+ List<Long> actionIds = actionList.stream().map(Action::getId).collect(Collectors.toList());
+ Action firstAction = actionService.getById(actionIds.get(0));
+ if (firstAction == null) {
+ return Boolean.FALSE;
+ }
+
+ String actionGroupId = firstAction.getGroupId();
+ actionService.updateStsByGroupId(actionGroupId, ActionStsType.EXPIRED.val());
+
+ // if firstAction is not turn, insert a new turn action
+ Action prependTurn = null;
+ if (!firstAction.getActionType().equals(ActionTypeType.TurnCorner.val())) {
+ String codeData = firstAction.getCode();
+ Code code = codeService.getCacheByData(codeData);
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(firstAction.getAgvId());
+ Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
+
+ List<Action> fullActionList = actionService.list(new LambdaQueryWrapper<Action>()
+ .eq(Action::getGroupId, actionGroupId)
+ .select(Action::getId, Action::getActionType, Action::getPriority)
+ .orderByDesc(Action::getPriority)
+ );
+
+ int idx = -1;
+ for (int k = 0; k < fullActionList.size(); k++) {
+ if (fullActionList.get(k).getId().equals(firstAction.getId())) {
+ idx = k;
+ break;
+ }
+ }
+
+ if (idx > 0) {
+ Long turnActionId = null;
+ // find out turn action
+ for (int k = idx - 1; k >= 0; k--) {
+ Action a = fullActionList.get(k);
+ if (a.getActionType().equals(ActionTypeType.TurnCorner.val())) {
+ turnActionId = a.getId();
+ break;
+ }
+ }
+
+
+ if (null != turnActionId) {
+ Action turn = actionService.getById(turnActionId);
+ Double direction = Double.parseDouble(turn.getParams());
+ // new turn action
+ prependTurn = new Action(
+ null, // 缂栧彿
+ firstAction.getBusId(), // 鎬荤嚎
+ firstAction.getTaskId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ (double) MapService.calcSpinDirection(code, lastDirection, direction).val, // 灞炴�у��
+ code.getData(), // 鍦伴潰鐮�
+ String.valueOf(direction), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ firstAction.getAgvId(), // AGV
+ now // 宸ヤ綔鏃堕棿
+ );
+ }
+
+ }
+ }
+
+ List<Action> newActionList = new ArrayList<>();
+ if (prependTurn != null) {
+ prependTurn.setGroupId(actionGroupId);
+ prependTurn.setCreateTime(now);
+ prependTurn.setUpdateTime(now);
+ newActionList.add(prependTurn);
+ }
+ for (Long actionId : actionIds) {
+ sqlSession.clearCache();
+ Action action = actionService.getById(actionId);
+ action.setActionSts(ActionStsType.PREPARE.val());
+ action.setIoTime(now);
+ action.setUpdateTime(now);
+ newActionList.add(action);
+ }
+ int i = newActionList.size();
+ for (Action action : newActionList) {
+ action.setId(null);
+ action.setPriority(i);
+ if (!actionService.save(action)) {
+ throw new BusinessException(action.getName() + " Action Save Fail!");
+ }
+ i -= 1;
+ }
+
+ Set<Long> busIds = new HashSet<>();
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ if (null != task) {
+ task.setTaskSts(TaskStsType.ASSIGN.val());
+ task.setUpdateTime(now);
+ task.setIoTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException(task.getUuid() + " Task Update Fail!");
+ }
+ busIds.add(task.getBusId());
+ }
+ }
+ for (Long busId : busIds) {
+ Bus bus = busService.getById(busId);
+ if (null != bus) {
+ bus.setBusSts(BusStsType.PROGRESS.val());
+ bus.setUpdateTime(now);
+ if (!busService.updateById(bus)) {
+ throw new BusinessException(bus.getUuid() + " Bus Update Fail!");
+ }
+ }
+ }
+ return Boolean.TRUE;
+ }
+
+ public Double calcProgress(String currCode, List<Action> actionList) {
+ double progress = 0D;
+ if (Cools.isEmpty(actionList, currCode)) {
return progress;
}
- Code code = codeService.getById(recentCode);
- List<String> codeList = actionList.stream().map(Action::getCode).collect(Collectors.toList());
+ List<String> codeList = actionList.stream().map(Action::getCode).distinct().collect(Collectors.toList());
int totalCodes = codeList.size();
- int currentIndex = codeList.indexOf(code.getData());
+ int currentIndex = codeList.indexOf(currCode);
if (currentIndex >= 0) {
progress = (currentIndex + 1) * 100.0 / totalCodes;
--
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