From ef24ea7286c496625dfc74aff2723ffdbd9b0049 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 29 十二月 2025 11:11:00 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/StaReserveStateType.java | 15 +++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 85 ++++++++++++--------
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaReserveService.java | 4 +
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaReserveServiceImpl.java | 50 +++++++++++-
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/StaReserveMapper.java | 7 +
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java | 6 -
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java | 2
zy-acs-manager/src/main/resources/mapper/manager/StaReserveMapper.xml | 15 +++
8 files changed, 140 insertions(+), 44 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 7cb0de0..b3058b4 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
@@ -1464,45 +1464,62 @@
// 鍙栨斁璐ц姹傚寘
if (msgBody instanceof AGV_06_UP) {
AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;
-
log.info("Agv [{}] 鍙栨斁璐ц姹傚寘 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));
- // query current segment
- Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), agv_06_up.getQrCode());
- if (null == currSeg) {
- log.error("failed to find curr segment [{}]", agv.getUuid());
- } else {
+ boolean success = false;
- boolean responseAck = true;
- TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
- assert null != posType;
- switch (posType) {
- case ORI_LOC:
- case DEST_LOC:
- break;
- case ORI_STA:
- case DEST_STA:
- // todo
- break;
- default:
- responseAck = false;
- log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
- break;
+ try {
+ Code code = codeService.getCacheByData(agv_06_up.getQrCode());
+
+ // query current segment
+ Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
+ if (null == currSeg) {
+ log.error("failed to find curr segment [{}]", agv.getUuid());
+ } else {
+
+ // query current task
+ Task currTask = taskService.getById(currSeg.getTaskId());
+ if (currTask == null || !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {
+
+ log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
+ } else {
+
+ Sta sta;
+ TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
+ assert null != posType;
+ switch (posType) {
+ case ORI_LOC:
+ case DEST_LOC:
+ success = true;
+ break;
+ case ORI_STA:
+ sta = staService.getById(currTask.getOriSta());
+ success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT);
+ // load sta
+ // remove expiredTime
+ break;
+ case DEST_STA:
+ // place sta
+ sta = staService.getById(currTask.getDestSta());
+ success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN);
+ break;
+ default:
+ log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
+ break;
+ }
+ }
+
}
-
- if (responseAck) {
-
- // todo:vincent 鏍￠獙鏄惁鍙互鍙栨斁璐�
-
- AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
- agv_06_down.setSerialNo(agv_06_up.getSerialNo());
- agv_06_down.setActionCode(agv_06_up.getActionCode());
- agv_06_down.setResult(1);
-
- redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
- }
-
+ } catch (Exception e) {
+ log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
}
+
+ AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
+ agv_06_down.setSerialNo(agv_06_up.getSerialNo());
+ agv_06_down.setActionCode(agv_06_up.getActionCode());
+ agv_06_down.setResult(success ? 1 : 0);
+
+ redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
}
// 鏂欎粨淇℃伅鍖�
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/StaReserveStateType.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/StaReserveStateType.java
index 8ac9d34..93d6cb4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/StaReserveStateType.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/StaReserveStateType.java
@@ -1,5 +1,8 @@
package com.zy.acs.manager.manager.enums;
+import com.zy.acs.framework.common.Cools;
+import com.zy.acs.framework.exception.CoolException;
+
public enum StaReserveStateType {
RESERVED,
@@ -9,4 +12,16 @@
TIMEOUT,
;
+ public static StaReserveStateType of(String state) {
+ if (Cools.isEmpty(state)) {
+ return null;
+ }
+ for (StaReserveStateType type : StaReserveStateType.values()) {
+ if (type.toString().equals(state)) {
+ return type;
+ }
+ }
+ throw new CoolException("failed to find StaReserveStateType for [" + state + "]");
+ }
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/StaReserveMapper.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/StaReserveMapper.java
index 2182267..4f69f87 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/StaReserveMapper.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/StaReserveMapper.java
@@ -17,4 +17,11 @@
, @Param("state") String state
);
+ int updateStateToWaiting(
+ @Param("taskId") Long taskId
+ , @Param("staId") Long staId
+ , @Param("type") String type
+ , @Param("state") String state
+ );
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java
index 87dd9cf..7afa287 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java
@@ -26,6 +26,6 @@
Boolean cancel(Long segmentId, Long userId);
- Segment getCurrRunningSeg(Long agvId, String qrCode);
+ Segment getCurrRunningSeg(Long agvId, Long codeId);
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaReserveService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaReserveService.java
index 089a8e1..5da15ef 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaReserveService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaReserveService.java
@@ -12,6 +12,10 @@
StaReserve reserveStaOut(Sta sta, Task task, Integer qty);
+
+ Boolean waitingStaReserve(Sta sta, Task task, Integer qty, StaReserveType type);
+
+
void confirmStaReserve(Sta sta, Task task, Integer qty, StaReserveType type);
void cancelStaReserve(Sta sta, Task task, Integer qty, StaReserveType type);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
index 63a4681..7398f70 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
@@ -2,8 +2,8 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
-import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.enums.ActionStsType;
@@ -11,7 +11,6 @@
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.mapper.SegmentMapper;
import com.zy.acs.manager.manager.service.*;
-import com.zy.acs.framework.common.Cools;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -150,8 +149,7 @@
}
@Override
- public Segment getCurrRunningSeg(Long agvId, String qrCode) {
- Code codeId = codeService.getCacheByData(qrCode);
+ public Segment getCurrRunningSeg(Long agvId, Long codeId) {
List<Segment> segments = this.list(new LambdaQueryWrapper<Segment>()
.eq(Segment::getAgvId, agvId)
.eq(Segment::getState, SegmentStateType.RUNNING.toString())
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaReserveServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaReserveServiceImpl.java
index a00deae..f9641ba 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaReserveServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaReserveServiceImpl.java
@@ -1,6 +1,8 @@
package com.zy.acs.manager.manager.service.impl;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.manager.entity.Sta;
import com.zy.acs.manager.manager.entity.StaReserve;
@@ -17,12 +19,16 @@
import org.springframework.transaction.annotation.Transactional;
import java.util.Date;
+import java.util.List;
+import java.util.Objects;
import java.util.Optional;
@Service("staReserveService")
public class StaReserveServiceImpl extends ServiceImpl<StaReserveMapper, StaReserve> implements StaReserveService {
public static final Long RESERVE_EXPIRE_TIME = 30 * 60 * 1000L;
+
+ public static final Integer DEFAULT_QTY = 1;
@Autowired
private StaService staService;
@@ -32,7 +38,7 @@
@Override
@Transactional(rollbackFor = Exception.class)
public StaReserve reserveStaIn(Sta sta, Task task, Integer qty) {
- qty = Optional.ofNullable(qty).orElse(1);
+ qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);
// reserve sta in
if (staMapper.tryReserveIn(sta.getId(), qty) < qty) {
@@ -66,7 +72,7 @@
@Override
@Transactional(rollbackFor = Exception.class)
public StaReserve reserveStaOut(Sta sta, Task task, Integer qty) {
- qty = Optional.ofNullable(qty).orElse(1);
+ qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);
// reserve sta out
if (staMapper.tryReserveOut(sta.getId(), qty) < qty) {
@@ -100,8 +106,44 @@
@Override
@Transactional(rollbackFor = Exception.class)
+ public Boolean waitingStaReserve(Sta sta, Task task, Integer qty, StaReserveType type) {
+ qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);
+
+ // update reserve to be waiting state
+ if (0 < this.baseMapper.updateStateToWaiting(sta.getId()
+ , task.getId()
+ , type.toString()
+ , StaReserveStateType.WAITING.toString())) {
+ return true;
+ }
+
+ List<StaReserve> list = this.list(new LambdaQueryWrapper<StaReserve>()
+ .eq(StaReserve::getStaId, sta.getId())
+ .eq(StaReserve::getTaskId, task.getId())
+ .eq(StaReserve::getType, type.toString())
+ .eq(StaReserve::getStatus, StatusType.ENABLE.val)
+ );
+
+ if (Cools.isEmpty(list)) {
+ return false;
+ }
+
+ StaReserve reserve = list.get(0);
+
+ StaReserveStateType stateType = StaReserveStateType.of(reserve.getState());
+ switch (Objects.requireNonNull(stateType)) {
+ case WAITING:
+ case CONFIRMED:
+ return true;
+ default:
+ return false;
+ }
+ }
+
+ @Override
+ @Transactional(rollbackFor = Exception.class)
public void confirmStaReserve(Sta sta, Task task, Integer qty, StaReserveType type) {
- qty = Optional.ofNullable(qty).orElse(1);
+ qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);
// update reserve state to be confirmed
if (0 == this.baseMapper.updateState(task.getId(), sta.getId(), type.toString(), StaReserveStateType.CONFIRMED.toString())) {
@@ -127,7 +169,7 @@
@Override
public void cancelStaReserve(Sta sta, Task task, Integer qty, StaReserveType type) {
- qty = Optional.ofNullable(qty).orElse(1);
+ qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);
// update reserve state to be canceled
if (0 == this.baseMapper.updateState(task.getId(), sta.getId(), type.toString(), StaReserveStateType.CANCELLED.toString())) {
diff --git a/zy-acs-manager/src/main/resources/mapper/manager/StaReserveMapper.xml b/zy-acs-manager/src/main/resources/mapper/manager/StaReserveMapper.xml
index 12a8345..264cb22 100644
--- a/zy-acs-manager/src/main/resources/mapper/manager/StaReserveMapper.xml
+++ b/zy-acs-manager/src/main/resources/mapper/manager/StaReserveMapper.xml
@@ -13,7 +13,20 @@
AND type = #{type}
AND deleted = 0
AND status = 1
--- AND state IN ('WAITING','RESERVED');
+-- AND state IN ('WAITING','RESERVED')
+ </update>
+
+ <update id="updateStateToWaiting">
+ UPDATE man_sta_reserve
+ SET state = #{state},
+ waiting_at = IFNULL(waiting_at, NOW()),
+ update_time = NOW()
+ WHERE task_id = #{taskId}
+ AND sta_id = #{staId}
+ AND type = #{type}
+ AND deleted = 0
+ AND status = 1
+-- AND state IN ('RESERVED','WAITING')
</update>
</mapper>
--
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