From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 434 +++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 313 insertions(+), 121 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 aa06289..dbf5fd2 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
@@ -1,7 +1,6 @@
package com.zy.acs.manager.core.service;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
@@ -32,10 +31,11 @@
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
+import com.zy.acs.manager.manager.utils.ActionSorter;
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
@@ -94,7 +94,8 @@
private AgvModelService agvModelService;
@Autowired
private LaneService laneService;
-
+ @Autowired
+ private ActionSorter actionSorter;
@SuppressWarnings("all")
@Transactional
@@ -173,8 +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");
@@ -186,6 +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;
@@ -221,7 +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());
@@ -248,9 +288,8 @@
try {
// valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId(), true)) {
+ if (!agvService.judgeEnable(agv.getId(), false)) {
return;
-// 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...");
@@ -300,8 +339,8 @@
oriLoc = locService.getById(task.getOriLoc());
destLoc = locService.getById(task.getDestLoc());
- startCode = codeService.getById(oriLoc.getCode());
- endCode = codeService.getById(destLoc.getCode());
+ startCode = codeService.getCacheById(oriLoc.getCode());
+ endCode = codeService.getCacheById(destLoc.getCode());
TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
@@ -310,8 +349,8 @@
oriLoc = locService.getById(task.getOriLoc());
destSta = staService.getById(task.getDestSta());
- startCode = codeService.getById(oriLoc.getCode());
- endCode = codeService.getById(destSta.getCode());
+ startCode = codeService.getCacheById(oriLoc.getCode());
+ endCode = codeService.getCacheById(destSta.getCode());
TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
@@ -320,8 +359,8 @@
oriSta = staService.getById(task.getOriSta());
destLoc = locService.getById(task.getDestLoc());
- startCode = codeService.getById(oriSta.getCode());
- endCode = codeService.getById(destLoc.getCode());
+ startCode = codeService.getCacheById(oriSta.getCode());
+ endCode = codeService.getCacheById(destLoc.getCode());
TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
@@ -330,8 +369,8 @@
oriSta = staService.getById(task.getOriSta());
destSta = staService.getById(task.getDestSta());
- startCode = codeService.getById(oriSta.getCode());
- endCode = codeService.getById(destSta.getCode());
+ startCode = codeService.getCacheById(oriSta.getCode());
+ endCode = codeService.getCacheById(destSta.getCode());
TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
@@ -396,7 +435,7 @@
}
// re-order by agv current position
- Code currCode = codeService.getById(agvDetail.getRecentCode());
+ Code currCode = codeService.getCacheById(agvDetail.getRecentCode());
Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
List<List<TaskPosDto>> pickGroups = new ArrayList<>();
@@ -473,6 +512,7 @@
// task
for (Task task : taskList) {
task.setTaskSts(TaskStsType.ASSIGN.val());
+ task.setStartTime(now);
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
throw new BusinessException(task.getUuid() + "浠诲姟鏇存柊澶辫触");
@@ -491,37 +531,38 @@
* 鍏呯數 鍥炲緟鏈轰綅浠诲姟
*/
@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; }
+ public boolean buildMinorTask(Long agvId, TaskTypeType taskType, String destination, Jam jam) {
+ if (Cools.isEmpty(agvId, taskType)) { return false; }
try {
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
- if (!agvService.judgeEnable(agv.getId())) {
+ String agvNo = agvService.getAgvNo(agvId);
+ if (!agvService.judgeEnable(agvId)) {
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(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
+ throw new CoolException("AGV[" + agvNo + "] 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...");
+ if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString()))
+ || !Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.RUNNING.toString()))) {
+ throw new CoolException("AGV[" + agvNo + "] failed to assign锛宐ecause already has the segment in running...");
}
Date now = new Date();
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
Code endCode = null;
switch (taskType) {
case TO_CHARGE:
case TO_STANDBY:
- List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agv.getId());
+ List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agvId);
if (!Cools.isEmpty(idleFunStaList)) {
FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
- endCode = codeService.getById(funcSta.getCode());
+ endCode = codeService.getCacheById(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());
+ log.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", agvNo, taskType.toString());
}
break;
case MOVE:
- endCode = codeService.selectByData(destination);
+ endCode = codeService.getCacheByData(destination);
break;
default:
return false;
@@ -530,12 +571,12 @@
if (null == endCode) {
return false;
}
- if (!allocateService.validCapacityOfLane(agv, endCode)) {
- throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agv.getUuid() + "]!!!");
+ if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
+ throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agvNo + "]!!!");
}
Task task = new Task();
- task.setAgvId(agv.getId());
+ 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()));
@@ -559,7 +600,7 @@
Travel travel = new Travel();
travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- travel.setAgvId(agv.getId());
+ travel.setAgvId(agvId);
// travel.setTaskContent(JSON.toJSONString(list));
travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
travel.setState(TravelStateType.RUNNING.toString());
@@ -589,7 +630,7 @@
Segment segment = new Segment();
segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
segment.setTravelId(travel.getId());
- segment.setAgvId(agv.getId());
+ segment.setAgvId(agvId);
segment.setTaskId(task.getId());
segment.setSerial(segSerial);
segment.setEndNode(endCode.getId());
@@ -642,30 +683,31 @@
* 鏍规嵁鍒嗙墖鐢熸垚鍔ㄤ綔 ( 杞﹁締鍙兘宸茬粡鍋氳繃涓�浜涗换鍔′簡,姝ｅ湪绛夊緟涓嬩竴娈典换鍔� )
*/
@Transactional
- public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList) {
+ public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
try {
if (Cools.isEmpty(agvId, segmentList)) { return; }
Date now = new Date();
- JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
- Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId())) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
- }
+ 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�...");
+// }
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ AgvModel agvModel = agvModelService.getByAgvId(agvId);
Double workDirection = agvModel.getWorkDirection();
AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
assert agvSpeedType != null;
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
- assert agvDetail != null;
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
List<Action> actionList = new ArrayList<>();
// start node
- Code lastCode = codeService.getById(agvDetail.getRecentCode());
- Double lastDirection = agvDetail.getAgvAngle();
+ Code lastCode = codeService.getCacheById(agvDetail.getRecentCode());
+ Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
if (!lastCode.getData().equals(pathList.get(0))) {
- throw new CoolException("AGV[" + agv.getUuid() + "]瀹氫綅鍋忕Щ...");
+ throw new CoolException("AGV[" + agvNo + "]瀹氫綅鍋忕Щ...");
}
boolean first = true;
@@ -675,7 +717,7 @@
Task task = taskService.getById(segment.getTaskId());
// 鑺傜偣鏉＄爜
- Code code = codeService.getById(segment.getEndNode());
+ Code code = codeService.getCacheById(segment.getEndNode());
// 闇�瑕佽蛋琛�
if (!lastCode.getData().equals(code.getData())) {
@@ -689,15 +731,58 @@
String next = pathListPart.get(i);
- Code nextCode = codeService.selectByData(next);
- Double nextDirection = mapService.calculateDirection(lastCode, nextCode);
+ 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.size() == 0) {
+
+ // 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
@@ -710,13 +795,12 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
lastDirection = nextDirection;
-
}
// run
@@ -736,7 +820,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(gap.getDistance()), // 鍔ㄤ綔鍙傛暟
actionType.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -762,7 +846,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -775,34 +859,19 @@
// 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
- ActionStsType.PREPARE.val(), // 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(storeDirection, oriLoc, lastCode);
+ agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -814,7 +883,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(oriLoc.getOffset()), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -830,7 +899,7 @@
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
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -839,23 +908,7 @@
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
- ActionStsType.PREPARE.val(), // 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(
@@ -869,7 +922,7 @@
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
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -877,7 +930,7 @@
// 璐ф灦鏀捐揣
Loc destLoc = locService.getById(task.getDestLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, destLoc, lastCode);
+ agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -889,14 +942,134 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(destLoc.getOffset()), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
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�
@@ -914,7 +1087,7 @@
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -933,7 +1106,7 @@
lastCode.getData(), // 鍦伴潰鐮�
null, // 鍔ㄤ綔鍙傛暟
ActionTypeType.DockingCharge.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
@@ -953,7 +1126,7 @@
// lastCode.getData(), // 鍦伴潰鐮�
// String.valueOf(standByDirection), // 鍔ㄤ綔鍙傛暟
// ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
-// ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+// actionPrepareSts, // 鍔ㄤ綔杩涘害
// agvId, // AGV
// now // 宸ヤ綔鏃堕棿
// ));
@@ -980,30 +1153,24 @@
lastCode.getData(), // 鍦伴潰鐮�
null, // 鍔ㄤ綔鍙傛暟
ActionTypeType.FinishPath.val(), // 鍔ㄤ綔绫诲瀷
- ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- List<Action> newActionList = new ArrayList<>(actionList);
-
-// List<Action> optimizeList = actionService.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
@@ -1011,19 +1178,23 @@
item.setGroupId(groupId);
item.setState(SegmentStateType.RUNNING.toString());
item.setUpdateTime(now);
+ if (null != algoStartTime) {
+ item.setAlgoTime((int) (now.getTime() - algoStartTime.getTime()));
+ }
if (!segmentService.updateById(item)) {
throw new CoolException("鏇存柊Segment澶辫触");
}
}
- log.info(agv.getUuid() + "鍙稟gv鍔ㄤ綔缁勮瀹屾垚锛屾寚浠ゆ暟閲忥細" + newActionList.size());
+ log.info("{}鍙稟gv鍔ㄤ綔缁勮瀹屾垚锛屾寚浠ゆ暟閲忥細{}", agvNo, newActionList.size());
} catch (Exception e) {
log.error("mainService.generateAction", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
if (!Cools.isEmpty(pathList)) {
pathList.remove(0);
- mapDataDispatcher.clearDynamicMatrixByCodeList(null, pathList);
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, pathList);
+ mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList);
}
throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);
@@ -1042,22 +1213,32 @@
if (Cools.isEmpty(actionList)) {
return;
}
+
+ Long agvId = actionList.get(0).getAgvId();
+ String agvNo = agvService.getAgvNo(agvId);
+ if (!agvService.judgeOnline(agvId)) {
+ return;
+ }
+
+ long actionIssuedSts = ActionStsType.ISSUED.val();
for (Action action : actionList) {
- action.setActionSts(ActionStsType.ISSUED.val());
+ 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
List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
+ long taskAssignSts = TaskStsType.ASSIGN.val();
+ long taskProgressSts = TaskStsType.PROGRESS.val();
for (Long taskId : taskIds) {
Task task = taskService.getById(taskId);
- if (task.getTaskSts().equals(TaskStsType.ASSIGN.val())) {
- task.setTaskSts(TaskStsType.PROGRESS.val());
+ if (task.getTaskSts().equals(taskAssignSts)) {
+ task.setTaskSts(taskProgressSts);
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
throw new BusinessException(task.getSeqNum() + "浠诲姟鏇存柊澶辫触");
@@ -1065,11 +1246,8 @@
}
}
-
- Agv agv = agvService.getById(actionList.get(0).getAgvId());
- AgvAction agvAction = new AgvAction(agv.getUuid(), actionGroupId);
+ 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)
@@ -1103,6 +1281,13 @@
.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())
@@ -1117,6 +1302,13 @@
.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())))
+ );
+ break;
case ReadyReleaseToAgvSite:
agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
.setVal(action.getVal().intValue())
--
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