From fd0dc8eec755272d9b5adfd58369195db55173c4 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期三, 25 六月 2025 10:36:12 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 397 ++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 310 insertions(+), 87 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 0029772..05b6777 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
@@ -35,7 +35,7 @@
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
+import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
@@ -47,7 +47,7 @@
* Created by vincent on 2023/6/14
*/
@Slf4j
-@Component("mainService")
+@Service("mainService")
public class MainService {
@Autowired
@@ -96,7 +96,6 @@
private LaneService laneService;
@Autowired
private ActionSorter actionSorter;
-
@SuppressWarnings("all")
@Transactional
@@ -175,8 +174,28 @@
if (!locService.updateById(oriLoc)) {
throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
}
+
+ destSta = staService.getById(task.getDestSta());
+ if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
+ }
+ destSta.setStaSts(StaStsType.READY_RELEASE.val());
+ destSta.setUpdateTime(now);
+ if (!staService.updateById(destSta)) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to update");
+ }
break;
case STA_TO_LOC:
+ oriSta = staService.getById(task.getOriSta());
+ if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ }
+ oriSta.setStaSts(StaStsType.READY_TAKE.val());
+ oriSta.setUpdateTime(now);
+ if (!staService.updateById(oriSta)) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to update");
+ }
+
destLoc = locService.getById(task.getDestLoc());
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
@@ -188,6 +207,25 @@
}
break;
case STA_TO_STA:
+ oriSta = staService.getById(task.getOriSta());
+ if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
+ }
+ oriSta.setStaSts(StaStsType.READY_TAKE.val());
+ oriSta.setUpdateTime(now);
+ if (!staService.updateById(oriSta)) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to update");
+ }
+
+ destSta = staService.getById(task.getDestSta());
+ if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
+ }
+ destSta.setStaSts(StaStsType.READY_RELEASE.val());
+ destSta.setUpdateTime(now);
+ if (!staService.updateById(destSta)) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to update");
+ }
break;
default:
break;
@@ -223,7 +261,7 @@
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 check out agv which is idle...", task.getSeqNum());
continue;
}
task.setAgvId(agv.getId());
@@ -246,11 +284,13 @@
*/
@Transactional(propagation = Propagation.REQUIRES_NEW)
public void buildMajorTask(Long agvId, List<Task> taskList) {
- if (Cools.isEmpty(agvId, taskList)) { return; }
+ if (Cools.isEmpty(agvId, taskList)) {
+ return;
+ }
try {
// valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId(), true)) {
+ if (!agvService.judgeEnable(agv.getId(), false, true)) {
return;
}
if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -286,16 +326,18 @@
* val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
*/
Map<String, List<TaskPosDto>> groups = new HashMap<>();
- final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
+ final String sameGroupXy = configService.getVal("sameGroupXy", String.class);
int backpackLev = 0;
for (Task task : taskList) {
- backpackLev ++;
+ backpackLev++;
Code startCode = null;
Code endCode = null;
- Loc oriLoc = null; Loc destLoc = null;
- Sta oriSta = null; Sta destSta = null;
+ Loc oriLoc = null;
+ Loc destLoc = null;
+ Sta oriSta = null;
+ Sta destSta = null;
switch (Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()))) {
case LOC_TO_LOC:
oriLoc = locService.getById(task.getOriLoc());
@@ -398,7 +440,7 @@
// re-order by agv current position
Code currCode = codeService.getCacheById(agvDetail.getRecentCode());
- Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
+ Double[] currPosition = new Double[]{currCode.getX(), currCode.getY()};
List<List<TaskPosDto>> pickGroups = new ArrayList<>();
List<List<TaskPosDto>> dropGroups = new ArrayList<>();
@@ -444,7 +486,7 @@
List<Segment> segmentList = new ArrayList<>();
for (List<TaskPosDto> dtoList : list) {
for (TaskPosDto taskPosDto : dtoList) {
- segSerial ++;
+ segSerial++;
AgvBackpackType backpackType = AgvBackpackDto.find(backpackDtoList, taskPosDto.getTaskId());
assert null != backpackType;
@@ -491,14 +533,17 @@
/**
* 鍏呯數 鍥炲緟鏈轰綅浠诲姟
+ * zc 鏂板浜嗘槸鍚﹀己鍒讹紝寮哄埗璇存槑鐢辩敤鎴峰彂璧凤紝灏忚溅鍦ㄨ秴杩囦綆鐢甸噺灏卞彲浠ュ仛绉诲姩鍏呯數鍘诲緟鏈轰綅
*/
- @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(Long agvId, TaskTypeType taskType, String destination, Jam jam) {
- if (Cools.isEmpty(agvId, taskType)) { return false; }
+ @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(Long agvId, TaskTypeType taskType, String destination, Jam jam, boolean force) {
+ if (Cools.isEmpty(agvId, taskType)) {
+ return false;
+ }
try {
String agvNo = agvService.getAgvNo(agvId);
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
- if (!agvService.judgeEnable(agvId)) {
+ if (!agvService.judgeEnable(agvId, false, force)) {
return false;
}
if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -510,6 +555,7 @@
}
Date now = new Date();
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
Code endCode = null;
switch (taskType) {
case TO_CHARGE:
@@ -541,7 +587,7 @@
task.setAgvId(agvId);
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
- task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
+ task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks) ? null : lastTasks.get(0).getSeqNum()));
task.setOriCode(agvDetail.getCode());
task.setDestCode(endCode.getId());
// lane
@@ -549,7 +595,7 @@
if (null != destLane) {
task.setDestLaneHash(destLane.getHashCode());
}
- task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
+ task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE) ? 2 : 1);
task.setTaskSts(TaskStsType.ASSIGN.val());
task.setTaskType(taskType.val());
task.setIoTime(now);
@@ -571,11 +617,12 @@
}
// generate segment
- int segSerial = 0; segSerial ++;
+ int segSerial = 0;
+ segSerial++;
List<Segment> segmentList = new ArrayList<>();
String posType = "";
- switch (taskType){
+ switch (taskType) {
case TO_CHARGE:
posType = TaskPosDto.PosType.TO_CHARGE.toString();
break;
@@ -647,15 +694,17 @@
@Transactional
public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
try {
- if (Cools.isEmpty(agvId, segmentList)) { return; }
+ if (Cools.isEmpty(agvId, segmentList)) {
+ return;
+ }
Date now = new Date();
long actionPrepareSts = ActionStsType.PREPARE.val();
// JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
String agvNo = agvService.getAgvNo(agvId);
- if (!agvService.judgeEnable(agvId)) {
- throw new CoolException("AGV[" + agvNo + "]褰撳墠涓嶅彲鐢�...");
- }
+// if (!agvService.judgeEnable(agvId)) {
+// throw new CoolException("AGV[" + agvNo + "]褰撳墠涓嶅彲鐢�...");
+// }
AgvModel agvModel = agvModelService.getByAgvId(agvId);
Double workDirection = agvModel.getWorkDirection();
@@ -667,7 +716,7 @@
List<Action> actionList = new ArrayList<>();
// start node
Code lastCode = codeService.getCacheById(agvDetail.getRecentCode());
- Double lastDirection = agvDetail.getAgvAngle();
+ Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
if (!lastCode.getData().equals(pathList.get(0))) {
throw new CoolException("AGV[" + agvNo + "]瀹氫綅鍋忕Щ...");
}
@@ -689,19 +738,64 @@
List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
for (int i = 0; i < pathListPart.size(); i++) {
- if (i == 0) { continue; }
+ if (i == 0) {
+ continue;
+ }
String next = pathListPart.get(i);
Code nextCode = codeService.getCacheByData(next);
Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
+ // 绗竴姝ワ細濡傛灉涓嬩竴涓柟鍚戞濂芥槸浣滀笟鏂瑰悜鐨勭浉鍙嶆柟鍚戯紝鍒欓噸缃笅涓�涓柟鍚戜负浣滀笟鏂瑰悜锛屾爣璁� reverse = true
boolean reverse = false;
if (nextDirection.equals((workDirection + 180) % 360)) {
nextDirection = workDirection;
reverse = true;
}
- if (!lastDirection.equals(nextDirection) || actionList.isEmpty()) {
+
+ // 绗簩姝ワ細鍒ゆ柇褰撳墠鑺傜偣鏄惁鍙互鏃嬭浆
+ if (!lastCode.getCornerBool()) {
+ // 濡傛灉鏄綔涓氭柟鍚戯紝浣嗘槸灏忚溅鍦ㄥ贩閬撳唴鏂瑰悜閿欒锛屽垯鍋滄
+ if (reverse && !lastDirection.equals(nextDirection)) {
+// throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // 濡傛灉涓嶆槸浣滀笟鏂瑰悜锛屽垽鏂槸鍚︾浉鍙嶆柟鍚戯紝濡傛灉鍙嶆柟鍚戝垯鍊掗��琛岃蛋
+ if (nextDirection.equals((lastDirection + 180) % 360)) {
+ nextDirection = lastDirection;
+ reverse = true;
+ }
+ } else {
+ if (!lastDirection.equals(nextDirection)) {
+ // 濡傛灉涓嬩釜鑺傜偣鏂瑰悜涓庡綋鍓峚gv鏂瑰悜鐩稿弽锛屽垯鍊掗��琛岃蛋锛屼絾鏄鏋滃綋鍓峚gv鏂瑰悜姝ｅソ涓庡伐浣滄柟鍚戠浉鍙嶏紝鍒欐棆杞嚦宸ヤ綔鏂瑰悜
+ if (nextDirection.equals((lastDirection + 180) % 360) && !workDirection.equals((lastDirection + 180) % 360)) {
+ nextDirection = lastDirection;
+ reverse = true;
+ } else {
+ // turn
+ actionList.add(new Action(
+ null, // 缂栧彿s
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+
+ lastDirection = nextDirection;
+ }
+ }
+ }
+
+ // 绗竴涓姩浣滀竴瀹氭槸 turn
+ if (actionList.isEmpty()) {
// turn
actionList.add(new Action(
null, // 缂栧彿
@@ -720,7 +814,6 @@
));
lastDirection = nextDirection;
-
}
// run
@@ -779,34 +872,19 @@
// 浣滀笟鐐瑰姩浣�
AgvDirectionType agvDirectionType;
+ Double staWorkDirection;
AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
case ORI_LOC:
assert backpackType != null;
// 妫�楠屾柟鍚�
if (!lastDirection.equals(workDirection)) {
- // turn
- actionList.add(new Action(
- null, // 缂栧彿
- task.getBusId(), // 鎬荤嚎
- task.getId(), // 浠诲姟
- null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
- ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
- ));
- lastDirection = workDirection;
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
}
// 璐ф灦鍙栬揣
Loc oriLoc = locService.getById(task.getOriLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirection(oriLoc, lastCode);
+ agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -843,23 +921,7 @@
assert backpackType != null;
// 妫�楠屾柟鍚�
if (!lastDirection.equals(workDirection)) {
- // turn
- actionList.add(new Action(
- null, // 缂栧彿
- task.getBusId(), // 鎬荤嚎
- task.getId(), // 浠诲姟
- null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
- ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
- ));
- lastDirection = workDirection;
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
}
// 鏆傚瓨鐐瑰彇璐ц揣
actionList.add(new Action(
@@ -881,13 +943,13 @@
// 璐ф灦鏀捐揣
Loc destLoc = locService.getById(task.getDestLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirection(destLoc, lastCode);
+ agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
task.getId(), // 浠诲姟
null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
+ null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
(double) agvDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
@@ -899,8 +961,128 @@
));
break;
case ORI_STA:
+ // 绔欑偣鍙栬揣
+ Sta oriSta = staService.getById(task.getOriSta());
+ Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
+ // 妫�楠屾柟鍚�
+ if (!lastDirection.equals(oriStaWorkDirection)) {
+ if (!lastCode.getCornerBool()) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // turn
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ lastDirection = oriStaWorkDirection;
+ }
+ // 璁＄畻璐у弶宸ヤ綔鏂瑰悜
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyTakeFromConveyorSta.desc, // 鍚嶇О
+ staWorkDirection, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(oriSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyTakeFromConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ // 鏆傚瓨鐐规斁璐�
+ assert backpackType != null;
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyReleaseToAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyReleaseToAgvSite.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
break;
case DEST_STA:
+ // 绔欑偣鏀捐揣
+ Sta destSta = staService.getById(task.getDestSta());
+ Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
+ // 妫�楠屾柟鍚�
+ if (!lastDirection.equals(destStaWorkDirection)) {
+ if (!lastCode.getCornerBool()) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ // turn
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ lastDirection = destStaWorkDirection;
+ }
+ // 鏆傚瓨鐐瑰彇璐�
+ assert backpackType != null;
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyTakeFromAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyTakeFromAgvSite.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ // 璁＄畻璐у弶宸ヤ綔鏂瑰悜
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
+ actionList.add(new Action(
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
+ staWorkDirection, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(destSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyReleaseToConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
break;
case TO_CHARGE:
// 妫�楠屾柟鍚�
@@ -989,26 +1171,19 @@
now // 宸ヤ綔鏃堕棿
));
-// List<Action> newActionList = new ArrayList<>(actionList);
-
-// List<Action> optimizeList = actionService.optimizeSort(actionList);
-
- List<Action> optimizeList = actionSorter.optimizeSort(actionList);
- List<Action> newActionList = new ArrayList<>(optimizeList);
-
-
+ List<Action> newActionList = actionSorter.optimizeSort(actionList);
String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);
// save action
int i = newActionList.size();
for (Action action : newActionList) {
- action.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+// action.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
action.setGroupId(groupId);
action.setPriority(i);
- if (!actionService.save(action)) {
- throw new BusinessException(action.getName() + "鍔ㄤ綔淇濆瓨澶辫触");
- }
i -= 1;
+ }
+ if (!actionService.saveBatch(newActionList)) {
+ throw new BusinessException("group[" + groupId + "] 鍔ㄤ綔淇濆瓨澶辫触");
}
// update segment
@@ -1039,6 +1214,8 @@
}
}
+
+
@Transactional
public void publishAction(String actionGroupId) {
try {
@@ -1051,15 +1228,47 @@
if (Cools.isEmpty(actionList)) {
return;
}
+
+ Long agvId = actionList.get(0).getAgvId();
+ String agvNo = agvService.getAgvNo(agvId);
+ if (!agvService.judgeOnline(agvId)) {
+ return;
+ }
+
+ int lastActionIndex = actionSorter.findLastActionIndex(actionList, ActionTypeType.ReadyReleaseToAgvSite.val());
+ if (lastActionIndex != -1) {
+ List<Action> sortedList = new ArrayList<>(actionList.size());
+ for (int i = 0; i < actionList.size(); i++) {
+ // 璺宠繃鍔ㄤ綔鏈韩
+ if (i != lastActionIndex) {
+ sortedList.add(actionList.get(i));
+ }
+ }
+ Action action = actionList.get(lastActionIndex);
+ action.setActionSts(ActionStsType.NEXT.val());
+ actionService.updateById(action);
+ actionList = sortedList;
+ }
+
+ Action shang = actionService.getOne(new LambdaQueryWrapper<Action>().eq(Action::getAgvId, agvId).eq(Action::getActionSts, ActionStsType.NEXT.val()).eq(Action::getActionType, ActionTypeType.ReadyReleaseToAgvSite.val()).ne(Action::getGroupId,actionGroupId));
+ if (shang != null) {
+ int turnCornerIdx = actionSorter.findFirstActionIndex(actionList, ActionTypeType.TurnCorner.val());
+ if (turnCornerIdx == -1) {
+ actionList.add(0, shang);
+ } else {
+ actionList.add(turnCornerIdx, shang);
+ }
+ }
+
long actionIssuedSts = ActionStsType.ISSUED.val();
for (Action action : actionList) {
action.setActionSts(actionIssuedSts);
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");
- }
+ }
+ if (!actionService.updateBatchById(actionList)) {
+ throw new BusinessException("failed to update action batch !!!");
}
// task
@@ -1077,10 +1286,8 @@
}
}
- String agvNo = agvService.getAgvNo(actionList.get(0).getAgvId());
AgvAction agvAction = new AgvAction(agvNo, actionGroupId);
for (Action action : actionList) {
-
switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
case TurnCorner:
agvAction.add(new AgvActionItem<>(TurnCornerAction.class)
@@ -1114,6 +1321,13 @@
.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
);
break;
+ case ReadyTakeFromConveyorSta:
+ agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ );
+ break;
case ReadyTakeFromAgvSite:
agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
.setVal(action.getVal().intValue())
@@ -1123,6 +1337,13 @@
break;
case ReadyReleaseToShelvesLoc:
agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case ReadyReleaseToConveyorSta:
+ agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
.setVal(action.getVal().intValue())
.setQrCode(action.getCode())
.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
@@ -1256,9 +1477,9 @@
// segment list
List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getGroupId, serialNo)
+ .eq(Segment::getGroupId, serialNo)
// .eq(Segment::getState, SegmentStateType.RUNNING.toString())
- .orderByAsc(Segment::getSerial)
+ .orderByAsc(Segment::getSerial)
);
// settlement
@@ -1288,8 +1509,10 @@
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;
+ 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)) {
--
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