From fff2e8aa532540036088744c76efe5bffc7733a3 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 25 十月 2024 15:24:00 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 113 +++++++++++++++++++++++++++++++++++---------------------
1 files changed, 70 insertions(+), 43 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 9337548..9b3a1d8 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
@@ -101,7 +101,7 @@
String batch = busSubmitParam.getBatch();
List<TaskDto> taskDtoList = busSubmitParam.getTaskList();
if (Cools.isEmpty(taskDtoList)) {
- throw new BusinessException("taskDtoList 涓嶈兘涓虹┖");
+ throw new BusinessException("taskList can't be empty!");
}
// 浼樺厛绾ф帓搴�
@@ -120,7 +120,7 @@
bus.setMemo(memo);
if (!busService.save(bus)) {
- throw new BusinessException("浠诲姟淇濆瓨澶辫触");
+ throw new BusinessException("Internal Server Error!");
}
// 淇濆瓨浠诲姟
@@ -128,7 +128,7 @@
task.setBusId(bus.getId());
task.setTaskSts(TaskStsType.INIT.val());
if (!taskService.save(task)) {
- throw new BusinessException(task.getSeqNum() + "浠诲姟淇濆瓨澶辫触");
+ throw new BusinessException("seqNum:" + task.getSeqNum() + " failed to save!");
}
// 淇敼搴撲綅鐘舵��
@@ -140,44 +140,44 @@
case LOC_TO_LOC:
oriLoc = locService.getById(task.getOriLoc());
if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 涓嶆槸鍦ㄥ簱鐘舵��");
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
}
oriLoc.setLocSts(LocStsType.PAKOUT.val());
oriLoc.setUpdateTime(now);
if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
}
destLoc = locService.getById(task.getDestLoc());
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 涓嶆槸绌洪棽鐘舵��");
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
}
destLoc.setLocSts(LocStsType.PAKIN.val());
destLoc.setUpdateTime(now);
if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
}
break;
case LOC_TO_STA:
oriLoc = locService.getById(task.getOriLoc());
if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 涓嶆槸鍦ㄥ簱鐘舵��");
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
}
oriLoc.setLocSts(LocStsType.PAKOUT.val());
oriLoc.setUpdateTime(now);
if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
}
break;
case STA_TO_LOC:
destLoc = locService.getById(task.getDestLoc());
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 涓嶆槸绌洪棽鐘舵��");
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
}
destLoc.setLocSts(LocStsType.PAKIN.val());
destLoc.setUpdateTime(now);
if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
}
break;
case STA_TO_STA:
@@ -207,17 +207,36 @@
bus.setBusSts(BusStsType.PROGRESS.val());
bus.setUpdateTime(now);
if (!busService.updateById(bus)) {
- log.error("Bus [{}] 鏇存柊澶辫触 锛侊紒锛�", bus.getUuid());
+ log.error("Bus [{}] failed to Update 锛侊紒锛�", bus.getUuid());
}
return;
}
+
+ for (Task task : taskList) {
+ Agv agv = missionAssignService.execute(task);
+ if (null == agv) {
+ 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);
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+ }
+ }
+
+
+ // ------------------------------------------
+
List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
Map<String, List<Long>> taskAllot = new HashMap<>();
for (Task task : taskList) {
Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
if (null == agv) {
- log.warn("{}浠诲姟寮傚父锛屾棤娉曟绱㈢┖闂睞gv...", task.getSeqNum());
+ log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
continue;
}
@@ -227,7 +246,7 @@
task.setIoTime(now);
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
- throw new BusinessException(task.getSeqNum() + "浠诲姟鏇存柊澶辫触");
+ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
}
if (taskAllot.containsKey(agv.getUuid())) {
@@ -236,11 +255,6 @@
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();
@@ -251,38 +265,30 @@
* 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� )
*/
@Transactional
- public synchronized void mergeMajorTask(Long agvId, List<Task> taskList) {
+ public synchronized void buildMajorTask(Long agvId, List<Task> taskList) {
if (Cools.isEmpty(taskList)) { return; }
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 ...");
}
- 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 (!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...");
- }
- }
-
+ // execute ----------------------------------------------------
+ Date now = new Date();
// sort and sub
taskList.sort(new Comparator<Task>() {
@Override
public int compare(Task o1, Task o2) {
- return 0;
+ return o1.getPriority() - o2.getPriority();
}
});
Integer backpack = agvService.getBackpack(agv);
@@ -290,15 +296,17 @@
taskList = taskList.subList(0, backpack);
}
+ 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) {
@@ -362,7 +370,31 @@
}
/**
- * List<TaskPosDto>: task list on the same channel
+ * 1.Map<String, List<TaskPosDto>> groups
+ *
+ * key: 1000 + ORI_LOC
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 3000 + ORI_LOC
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 2000 + ORI_LOC
+ * 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
*/
ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
@@ -371,7 +403,7 @@
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));
}
@@ -608,11 +640,6 @@
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
--
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