From d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 17 十二月 2024 09:58:39 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 398 ++++++++++++++++++++++++++++++++------------------------
1 files changed, 228 insertions(+), 170 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 21feeaa..942003a 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
@@ -3,9 +3,6 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-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.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
import com.zy.acs.common.domain.AgvProtocol;
@@ -14,11 +11,20 @@
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.*;
+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.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;
@@ -30,12 +36,11 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
+import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.locks.ReentrantLock;
import java.util.stream.Collectors;
/**
@@ -44,9 +49,6 @@
@Slf4j
@Component("mainService")
public class MainService {
-
- private static final int LOCK_TIMEOUT = 5;
- private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@Autowired
private BusService busService;
@@ -66,6 +68,8 @@
private ConfigService configService;
@Autowired
private ValidService validService;
+ @Autowired
+ private AllocateService allocateService;
@Autowired
private CodeService codeService;
@Autowired
@@ -89,7 +93,8 @@
@Autowired
private AgvModelService agvModelService;
@Autowired
- private MissionAssignService missionAssignService;
+ private LaneService laneService;
+
@SuppressWarnings("all")
@Transactional
@@ -108,7 +113,7 @@
taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());
// 鏍￠獙
- List<Task> taskList = validService.validBusDto(taskDtoList);
+ List<Task> taskList = validService.validTaskDtoList(taskDtoList);
// 淇濆瓨鎬荤嚎
Date now = new Date();
@@ -194,7 +199,7 @@
* 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 infuseAgvForTask(Bus bus) {
+ public synchronized void allocateTask(Bus bus) {
try {
Date now = new Date();
List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
@@ -211,17 +216,14 @@
}
return;
}
- List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
- Map<String, List<Long>> taskAllot = new HashMap<>();
+ List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
for (Task task : taskList) {
- Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
+ 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());
task.setTaskSts(TaskStsType.WAITING.val());
task.setIoTime(now);
@@ -229,18 +231,7 @@
if (!taskService.updateById(task)) {
throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
}
-
- if (taskAllot.containsKey(agv.getUuid())) {
- taskAllot.get(agv.getUuid()).add(task.getId());
- } else {
- taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
- }
}
-
-// bus.setUpdateTime(now);
-// if (!busService.updateById(bus)) {
-// throw new BusinessException(bus.getSeqNum() + "鎬荤嚎鏇存柊澶辫触");
-// }
} catch (Exception e) {
log.error("mainService.infuseAgvForTask", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -249,40 +240,32 @@
/**
* 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
- public synchronized void mergeMajorTask(Long agvId, List<Task> taskList) {
- if (Cools.isEmpty(taskList)) { return; }
- boolean lockAcquired = false;
+ @Transactional(propagation = Propagation.REQUIRES_NEW)
+ public void buildMajorTask(Long agvId, List<Task> taskList) {
+ if (Cools.isEmpty(agvId, taskList)) { return; }
try {
- if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
- }
- Date now = new Date();
- final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
-
+ // valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId(), agvDetail -> agvDetail.getVol() > agv.getChargeLine())) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
+ if (!agvService.judgeEnable(agv.getId(), true)) {
+ 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...");
}
-
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
- assert agvDetail != null;
- if (agvDetail.getPos() == 0) {
- if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅湪瀹氫綅...");
- }
+ 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 0;
+ return o2.getPriority() - o1.getPriority();
}
});
Integer backpack = agvService.getBackpack(agv);
@@ -290,15 +273,18 @@
taskList = taskList.subList(0, backpack);
}
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
+ List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
+
/**
- * single agvId
+ * 鍚屽贩閬撳綊绫�
+ * same lane for every single agvId
*
- * key: y + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
+ * 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<>();
-
- List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
+ final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
int backpackLev = 0;
for (Task task : taskList) {
@@ -362,8 +348,40 @@
}
/**
- * List<TaskPosDto>: task list on the same channel
+ * 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) -> {
@@ -371,10 +389,41 @@
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.getById(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();
@@ -431,33 +480,29 @@
} catch (Exception e) {
- log.error("mainService.mergeMajorTask[task]", e);
+ log.error("mainService.buildMajorTask[task]", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- } finally {
-
- if (lockAcquired) {
- this.lock.unlock();
- }
}
}
+
/**
* 鍏呯數 鍥炲緟鏈轰綅浠诲姟
*/
- @Transactional
- public synchronized boolean buildMinorTask(Agv agv, AgvDetail agvDetail, TaskTypeType taskType, String destination) {
+ @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, TaskTypeType taskType, String destination, Jam jam) {
if (Cools.isEmpty(agv, taskType)) { return false; }
- boolean lockAcquired = false;
try {
- if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
- }
-
- 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();
@@ -465,15 +510,13 @@
switch (taskType) {
case TO_CHARGE:
case TO_STANDBY:
- List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
- .eq(FuncSta::getType, FuncStaType.query(taskType).toString())
- .eq(FuncSta::getAgvId, agv.getId())
- .eq(FuncSta::getState, FuncStaStateType.IDLE.toString())
- .eq(FuncSta::getStatus, StatusType.ENABLE.val)
- );
- if (!Cools.isEmpty(funcStaList)) {
- FuncSta funcSta = funcStaList.get(0);
+ List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agv.getId());
+ if (!Cools.isEmpty(idleFunStaList)) {
+ FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
endCode = codeService.getById(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}", agv.getUuid(), taskType.toString());
}
break;
case MOVE:
@@ -484,8 +527,10 @@
}
if (null == endCode) {
- log.error("{}鍙疯溅杈嗗缓绔嬪姛鑳戒换鍔″け璐ワ紝鏃犳硶妫�绱㈠埌鐩爣瀹氫綅锛孴askTypeType锛歿}", agv.getUuid(), taskType.toString());
return false;
+ }
+ if (!allocateService.validCapacityOfLane(agv, endCode)) {
+ throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agv.getUuid() + "]!!!");
}
Task task = new Task();
@@ -495,13 +540,18 @@
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() + "浠诲姟淇濆瓨澶辫触");
+ throw new BusinessException(task.getSeqNum() + " failed to save");
}
// generate travel
@@ -510,10 +560,10 @@
travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
travel.setAgvId(agv.getId());
// travel.setTaskContent(JSON.toJSONString(list));
- travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
+ travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
travel.setState(TravelStateType.RUNNING.toString());
if (!travelService.save(travel)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("travel failed to save");
}
// generate segment
@@ -552,7 +602,12 @@
next.setState(SegmentStateType.WAITING.toString());
}
if (!segmentService.save(next)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("segment failed to save");
+ } else {
+ if (null != jam && i == 0) {
+ jam.setAvoSeg(next.getId());
+ jam.setAvoCode(endCode.getId());
+ }
}
}
@@ -564,7 +619,7 @@
destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
destFuncSta.setUpdateTime(now);
if (!funcStaService.updateById(destFuncSta)) {
- log.error("FuncSta [{}] 鏇存柊鐘舵�佸け璐� 锛侊紒锛�", destFuncSta.getName());
+ log.error("FuncSta [{}] failed to update 锛侊紒锛�", destFuncSta.getName());
}
break;
case MOVE:
@@ -579,11 +634,6 @@
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
return false;
- } finally {
-
- if (lockAcquired) {
- this.lock.unlock();
- }
}
}
@@ -608,22 +658,16 @@
AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
assert agvDetail != null;
- if (agvDetail.getPos() == 0) {
- if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅湪瀹氫綅...");
- }
- }
List<Action> actionList = new ArrayList<>();
// start node
Code lastCode = codeService.getById(agvDetail.getRecentCode());
+ Double lastDirection = agvDetail.getAgvAngle();
if (!lastCode.getData().equals(pathList.get(0))) {
throw new CoolException("AGV[" + agv.getUuid() + "]瀹氫綅鍋忕Щ...");
}
- Double lastDirection = agvDetail.getAgvAngle();
boolean first = true;
-
for (Segment segment : segmentList) {
// 鍒嗘鎵�灞炵殑Task
@@ -855,7 +899,7 @@
break;
case TO_CHARGE:
// 妫�楠屾柟鍚�
- FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
+ FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
if (!lastDirection.equals(chargeDirection)) {
actionList.add(new Action(
@@ -1000,6 +1044,7 @@
for (Action action : actionList) {
action.setActionSts(ActionStsType.ISSUED.val());
action.setStartTime(now);
+ action.setIoTime(now);
action.setUpdateTime(now);
if (!actionService.updateById(action)) {
throw new BusinessException(action.getPriority() + " - " + action.getName() + "鍔ㄤ綔鏇存柊澶辫触");
@@ -1204,77 +1249,8 @@
.orderByAsc(Segment::getSerial)
);
- // 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
- 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
- trafficService.callback(segmentList);
+ // settlement
+ this.settleSegmentList(segmentList, serialNo);
log.info("Agv [{}] {}浣滀笟瀹屾瘯 ==========>> ", protocol.getAgvNo(), serialNo);
@@ -1289,4 +1265,86 @@
}
}
+ @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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