From 12067f657bc3dc169a7a466e433374368e8daf73 Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期日, 18 一月 2026 16:14:27 +0800
Subject: [PATCH] 越库订单逻辑调整
---
src/main/java/com/zy/asrs/task/handler/AgvHandler.java | 659 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 630 insertions(+), 29 deletions(-)
diff --git a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
index e935e0c..7d8fa87 100644
--- a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
@@ -3,16 +3,20 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.core.common.R;
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.TaskLog;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.entity.BasDevp;
+import com.zy.asrs.entity.LocCache;
+import com.zy.asrs.mapper.BasDevpMapper;
import com.zy.asrs.mapper.BasStationMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.ApiLogService;
+import com.zy.asrs.service.LocCacheService;
import com.zy.asrs.service.TaskLogService;
import com.zy.asrs.service.TaskService;
import com.zy.common.constant.ApiInterfaceConstant;
+import com.zy.common.properties.AgvProperties;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.BeanUtils;
@@ -20,12 +24,9 @@
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
-import java.util.function.Function;
-import java.util.function.Predicate;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.atomic.AtomicInteger;
import java.util.stream.Collectors;
/**
@@ -52,16 +53,118 @@
@Resource
private BasStationMapper basStationMapper;
+ @Resource
+ private BasDevpMapper basDevpMapper;
+
+ @Resource
+ private LocCacheService locCacheService;
+
+ @Resource
+ private AgvProperties agvProperties;
+
+ /**
+ * 绔欑偣杞璁℃暟鍣紝鐢ㄤ簬骞冲潎鍒嗛厤绔欑偣
+ * Key: 绔欑偣缁勬爣璇嗭紙濡� "east" 鎴� "west"锛夛紝Value: 褰撳墠杞绱㈠紩
+ */
+ private final Map<String, AtomicInteger> siteRoundRobinCounters = new ConcurrentHashMap<>();
+
/**
* 鍛煎彨agv鎼繍
*/
public void callAgv(List<Task> taskList) {
+ if (!agvProperties.isSendTask()) {
+ return;
+ }
+
for (Task task : taskList) {
+ // 濡傛灉浠诲姟鐘舵�佸凡缁忔槸8锛堝凡鍛煎彨AGV锛屾鍦ㄦ惉杩愶級锛屽垯涓嶅啀鍙戦�佹寚浠�
+ if (task.getWrkSts() != null && task.getWrkSts() == 8L) {
+ log.debug("浠诲姟ID锛歿}鐘舵�佸凡鏄�8锛堟鍦ㄦ惉杩愶級锛岃烦杩囧彂閫�", task.getId());
+ continue;
+ }
+
+ // 濡傛灉浠诲姟娌℃湁鍒嗛厤绔欑偣锛屽厛鍒嗛厤绔欑偣锛堝彧鏈変负绌烘椂鎵嶅垎閰嶏紝宸茬粡鍒嗛厤浜嗕笉瑕佹竻绌猴級
+ String staNo = task.getStaNo();
+ if (staNo == null || staNo.isEmpty()) {
+ String errorMsg = allocateSiteForTask(task);
+ if (errorMsg != null) {
+ // 鏃犳硶鍒嗛厤绔欑偣锛屽彧鍦ㄦ棩蹇椾腑璁板綍锛屼笉璁板綍鍒颁换鍔′腑锛坅pp涓嶉渶瑕佺煡閬擄級
+ log.warn("浠诲姟ID锛歿}鏃犳硶鍒嗛厤绔欑偣锛歿}", task.getId(), errorMsg);
+ continue;
+ }
+ // 妫�鏌ユ槸鍚︽垚鍔熷垎閰嶄簡绔欑偣锛堝鏋滆繑鍥瀗ull涓攕taNo浠嶄负绌猴紝璇存槑鎵�鏈夌珯鐐归兘鍦ㄦ惉杩愶紝绛夊緟涓嬫鍐嶈瘯锛�
+ staNo = task.getStaNo();
+ if (staNo == null || staNo.isEmpty()) {
+ // 鎵�鏈夌珯鐐归兘鍦ㄦ惉杩愶紝鏆備笉鍒嗛厤锛岀瓑寰呬笅娆″畾鏃朵换鍔″啀灏濊瘯
+ continue;
+ }
+ log.info("浠诲姟ID锛歿}宸插垎閰嶇珯鐐癸細{}", task.getId(), staNo);
+ }
+
+ // 妫�鏌ョ洰鏍囩珯鐐规槸鍚︽湁鏁堬紙涓嶄负0涓斿瓨鍦級
+ if (staNo != null && !staNo.isEmpty()) {
+ try {
+ Integer siteNo = Integer.parseInt(staNo);
+ // 妫�鏌ョ珯鐐规槸鍚︿负0锛堟棤鏁堢珯鐐癸級锛屽鏋滄槸0鍒欎笉鍙戦�侊紝浣嗕笉娓呯┖绔欑偣
+ if (siteNo == null || siteNo == 0) {
+ log.warn("浠诲姟ID锛歿}鐨勭洰鏍囩珯鐐箋}鏃犳晥锛堜负0锛夛紝璺宠繃鍙戦�侊紝淇濈暀绔欑偣鍒嗛厤", task.getId(), staNo);
+ continue;
+ }
+ List<BasDevp> basDevpList = basDevpMapper.selectList(new EntityWrapper<BasDevp>().eq("dev_no", siteNo));
+ if (basDevpList == null || basDevpList.isEmpty()) {
+ // 绔欑偣涓嶅瓨鍦紝璺宠繃鍙戦�侊紝涓嶆竻绌虹珯鐐�
+ log.warn("浠诲姟ID锛歿}鐨勭洰鏍囩珯鐐箋}涓嶅瓨鍦紝璺宠繃鍙戦�侊紝淇濈暀绔欑偣鍒嗛厤", task.getId(), staNo);
+ continue;
+ }
+ } catch (NumberFormatException e) {
+ // 绔欑偣鏍煎紡閿欒锛岃烦杩囧彂閫侊紝涓嶆竻绌虹珯鐐�
+ log.warn("浠诲姟ID锛歿}鐨勭洰鏍囩珯鐐箋}鏍煎紡閿欒锛岃烦杩囧彂閫侊紝淇濈暀绔欑偣鍒嗛厤", task.getId(), staNo);
+ continue;
+ }
+ } else {
+ // 娌℃湁绔欑偣锛岃烦杩�
+ continue;
+ }
+
+ // 妫�鏌ョ珯鐐规槸鍚︽湁鐘舵��8鐨勫悓绫诲瀷浠诲姟锛屾湁鍒欒烦杩囷紙涓嶆竻绌虹珯鐐癸級
+ if (staNo != null && !staNo.isEmpty() && task.getIoType() != null) {
+ // 鏍规嵁褰撳墠浠诲姟绫诲瀷锛屽彧妫�鏌ュ悓绫诲瀷鐨勬鍦ㄦ惉杩愪换鍔★紙鐘舵��8锛�
+ // 鍏ュ簱浠诲姟锛坕oType < 100锛夛細鍙鏌ュ叆搴撶被鍨嬬殑姝ｅ湪鎼繍浠诲姟
+ // 鍑哄簱浠诲姟锛坕oType >= 100锛夛細鍙鏌ュ嚭搴撶被鍨嬬殑姝ｅ湪鎼繍浠诲姟
+ List<Integer> ioTypes;
+ String taskType;
+ if (task.getIoType() < 100) {
+ // 鍏ュ簱浠诲姟锛氬彧妫�鏌ュ叆搴撶被鍨嬶紙1, 10, 53, 57锛�
+ ioTypes = Arrays.asList(1, 10, 53, 57);
+ taskType = "鍏ュ簱";
+ } else {
+ // 鍑哄簱浠诲姟锛氬彧妫�鏌ュ嚭搴撶被鍨嬶紙101, 110, 103, 107锛�
+ ioTypes = Arrays.asList(101, 110, 103, 107);
+ taskType = "鍑哄簱";
+ }
+
+ // 妫�鏌ョ姸鎬佷负8锛堝凡鍛煎彨AGV锛屾鍦ㄦ惉杩愶級鐨勫悓绫诲瀷浠诲姟
+ List<Task> transportingTasks = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("sta_no", staNo)
+ .eq("task_type", "agv")
+ .eq("wrk_sts", 8L) // 鍙鏌ユ鍦ㄦ惉杩愮姸鎬佺殑浠诲姟
+ .in("io_type", ioTypes)
+ .ne("id", task.getId()) // 鎺掗櫎褰撳墠浠诲姟鏈韩
+ );
+
+ if (!transportingTasks.isEmpty()) {
+ log.info("绔欑偣{}鏈墈}涓鍦ㄦ惉杩愮殑{}AGV浠诲姟锛岃烦杩囧綋鍓嶄换鍔D锛歿}",
+ staNo, transportingTasks.size(), taskType, task.getId());
+ continue;
+ }
+ }
+
// 鍛煎彨agv
String response = "";
boolean success = false;
- String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CALL_CARRY_PATH;
+ String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CREATE_TASK_PATH;
String namespace = "";
switch (task.getIoType()) {
case 1:
@@ -82,24 +185,79 @@
default:
}
String body = getRequest(task,namespace);
+
+ // 鑾峰彇褰撳墠閲嶈瘯娆℃暟
+ int currentRetryCount = getRetryCount(task);
+ int maxRetryCount = agvProperties.getCallRetry().getMaxRetryCount();
+ boolean retryEnabled = agvProperties.getCallRetry().isEnabled();
+
+ // 濡傛灉閲嶈瘯娆℃暟宸茶揪鍒版渶澶у�硷紝璺宠繃鏈鍙戦��
+ if (retryEnabled && currentRetryCount >= maxRetryCount) {
+ log.warn("{}鍛煎彨agv鎼繍 - 浠诲姟ID锛歿}宸茶揪鍒版渶澶ч噸璇曟鏁帮紙{}锛夛紝鍋滄閲嶈瘯",
+ namespace, task.getId(), maxRetryCount);
+ // 璁板綍鏈�缁堝け璐ヤ俊鎭�
+ task.setErrorTime(new Date());
+ task.setErrorMemo(String.format("AGV鍛煎彨澶辫触锛屽凡杈惧埌鏈�澶ч噸璇曟鏁帮紙%d娆★級", maxRetryCount));
+ taskService.updateById(task);
+ continue;
+ }
+
+ // 鎵撳嵃璇锋眰淇℃伅锛堝寘鍚噸璇曟鏁帮級
+ if (currentRetryCount > 0) {
+ log.info("{}鍛煎彨agv鎼繍锛堢{}娆￠噸璇曪級 - 璇锋眰鍦板潃锛歿}", namespace, currentRetryCount + 1, url);
+ } else {
+ log.info("{}鍛煎彨agv鎼繍 - 璇锋眰鍦板潃锛歿}", namespace, url);
+ }
+ log.info("{}鍛煎彨agv鎼繍 - 璇锋眰鍙傛暟锛歿}", namespace, body);
+
try {
+ // 浣跨敤浠欏伐M4鎺ュ彛
response = new HttpHandler.Builder()
.setUri(ApiInterfaceConstant.AGV_IP)
- .setPath(ApiInterfaceConstant.AGV_CALL_CARRY_PATH)
+ .setPath(ApiInterfaceConstant.AGV_CREATE_TASK_PATH)
.setJson(body)
.build()
.doPost();
+ // 鎵撳嵃杩斿洖鍙傛暟
+ log.info("{}鍛煎彨agv鎼繍 - 杩斿洖鍙傛暟锛歿}", namespace, response);
+
+ // 妫�鏌ュ搷搴旀槸鍚︿负绌�
+ if (response == null || response.trim().isEmpty()) {
+ String errorMsg = "AGV鎺ュ彛杩斿洖涓虹┖";
+ log.error("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛寋}", namespace, task.getId(), errorMsg);
+ handleCallFailure(task, namespace, errorMsg, retryEnabled, maxRetryCount, currentRetryCount);
+ continue;
+ }
+
JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
+ if (jsonObject == null) {
+ String errorMsg = "鍝嶅簲JSON瑙ｆ瀽澶辫触锛屽搷搴斿唴瀹癸細" + response;
+ log.error("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛寋}", namespace, task.getId(), errorMsg);
+ handleCallFailure(task, namespace, errorMsg, retryEnabled, maxRetryCount, currentRetryCount);
+ continue;
+ }
+
+ Integer code = jsonObject.getInteger("code");
+ if (code != null && code.equals(200)) {
+ // 鍛煎彨鎴愬姛锛屾竻闄ら噸璇曟鏁板拰閿欒淇℃伅
success = true;
task.setWrkSts(8L);
+ task.setMemo(clearRetryInfo(task.getMemo())); // 娓呴櫎閲嶈瘯淇℃伅
+ task.setErrorTime(null);
+ task.setErrorMemo(null);
taskService.updateById(task);
- log.info(namespace + "鍛煎彨agv鎼繍鎴愬姛锛歿}", task.getId());
+ log.info("{}鍛煎彨agv鎼繍鎴愬姛 - 浠诲姟ID锛歿}", namespace, task.getId());
} else {
- log.error(namespace + "鍛煎彨agv鎼繍澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", url, body, response);
+ String message = jsonObject.getString("message");
+ String errorMsg = String.format("閿欒鐮侊細%s锛岄敊璇俊鎭細%s", code, message);
+ log.error("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛寋}", namespace, task.getId(), errorMsg);
+ handleCallFailure(task, namespace, errorMsg, retryEnabled, maxRetryCount, currentRetryCount);
}
} catch (Exception e) {
- log.error(namespace + "鍛煎彨agv鎼繍寮傚父", e);
+ String errorMsg = "寮傚父淇℃伅锛�" + e.getMessage();
+ log.error("{}鍛煎彨agv鎼繍寮傚父 - 浠诲姟ID锛歿}锛岃姹傚湴鍧�锛歿}锛岃姹傚弬鏁帮細{}锛寋}",
+ namespace, task.getId(), url, body, errorMsg, e);
+ handleCallFailure(task, namespace, errorMsg, retryEnabled, maxRetryCount, currentRetryCount);
} finally {
try {
// 淇濆瓨鎺ュ彛鏃ュ織
@@ -120,35 +278,389 @@
}
/**
- * 鏋勯�犺姹傚唴瀹�
+ * 澶勭悊AGV鍛煎彨澶辫触鐨勬儏鍐�
+ * @param task 浠诲姟瀵硅薄
+ * @param namespace 鍛藉悕绌洪棿锛堝叆搴�/鍑哄簱/杞Щ锛�
+ * @param errorMsg 閿欒淇℃伅
+ * @param retryEnabled 鏄惁鍚敤閲嶈瘯
+ * @param maxRetryCount 鏈�澶ч噸璇曟鏁�
+ * @param currentRetryCount 褰撳墠閲嶈瘯娆℃暟
+ */
+ private void handleCallFailure(Task task, String namespace, String errorMsg,
+ boolean retryEnabled, int maxRetryCount, int currentRetryCount) {
+ if (retryEnabled && currentRetryCount < maxRetryCount) {
+ // 澧炲姞閲嶈瘯娆℃暟
+ int newRetryCount = currentRetryCount + 1;
+ task.setMemo(updateRetryCount(task.getMemo(), newRetryCount));
+ task.setErrorTime(new Date());
+ task.setErrorMemo(String.format("AGV鍛煎彨澶辫触锛堢%d娆￠噸璇曪級锛�%s", newRetryCount, errorMsg));
+ taskService.updateById(task);
+ log.info("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛屽凡閲嶈瘯{}娆★紝灏嗗湪涓嬫瀹氭椂浠诲姟鏃剁户缁噸璇曪紙鏈�澶歿}娆★級",
+ namespace, task.getId(), newRetryCount, maxRetryCount);
+ } else {
+ // 涓嶅惎鐢ㄩ噸璇曟垨宸茶揪鍒版渶澶ч噸璇曟鏁帮紝鍋滄閲嶈瘯
+ task.setErrorTime(new Date());
+ if (retryEnabled) {
+ task.setErrorMemo(String.format("AGV鍛煎彨澶辫触锛屽凡杈惧埌鏈�澶ч噸璇曟鏁帮紙%d娆★級锛�%s", maxRetryCount, errorMsg));
+ } else {
+ task.setErrorMemo(String.format("AGV鍛煎彨澶辫触锛堥噸璇曟湭鍚敤锛夛細%s", errorMsg));
+ }
+ taskService.updateById(task);
+ log.warn("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛屽仠姝㈤噸璇曘�傞敊璇俊鎭細{}",
+ namespace, task.getId(), errorMsg);
+ }
+ }
+
+ /**
+ * 浠巑emo瀛楁涓幏鍙栭噸璇曟鏁�
+ * memo鏍煎紡锛氬鏋滃寘鍚�"retryCount:鏁板瓧"锛屽垯杩斿洖璇ユ暟瀛楋紝鍚﹀垯杩斿洖0
+ * @param task 浠诲姟瀵硅薄
+ * @return 閲嶈瘯娆℃暟
+ */
+ private int getRetryCount(Task task) {
+ String memo = task.getMemo();
+ if (memo == null || memo.trim().isEmpty()) {
+ return 0;
+ }
+ try {
+ // 鏌ユ壘 "retryCount:鏁板瓧" 鏍煎紡
+ String prefix = "retryCount:";
+ int index = memo.indexOf(prefix);
+ if (index >= 0) {
+ int startIndex = index + prefix.length();
+ int endIndex = memo.indexOf(",", startIndex);
+ if (endIndex < 0) {
+ endIndex = memo.length();
+ }
+ String countStr = memo.substring(startIndex, endIndex).trim();
+ return Integer.parseInt(countStr);
+ }
+ } catch (Exception e) {
+ log.warn("瑙ｆ瀽浠诲姟ID锛歿}鐨勯噸璇曟鏁板け璐ワ紝memo锛歿}", task.getId(), memo, e);
+ }
+ return 0;
+ }
+
+ /**
+ * 鏇存柊memo瀛楁涓殑閲嶈瘯娆℃暟
+ * @param memo 鍘熷memo鍐呭
+ * @param retryCount 鏂扮殑閲嶈瘯娆℃暟
+ * @return 鏇存柊鍚庣殑memo鍐呭
+ */
+ private String updateRetryCount(String memo, int retryCount) {
+ if (memo == null) {
+ memo = "";
+ }
+ // 绉婚櫎鏃х殑retryCount淇℃伅
+ String cleanedMemo = clearRetryInfo(memo);
+ // 娣诲姞鏂扮殑retryCount淇℃伅
+ if (cleanedMemo.isEmpty()) {
+ return "retryCount:" + retryCount;
+ } else {
+ return cleanedMemo + ",retryCount:" + retryCount;
+ }
+ }
+
+ /**
+ * 娓呴櫎memo瀛楁涓殑閲嶈瘯淇℃伅
+ * @param memo 鍘熷memo鍐呭
+ * @return 娓呴櫎鍚庣殑memo鍐呭
+ */
+ private String clearRetryInfo(String memo) {
+ if (memo == null || memo.trim().isEmpty()) {
+ return "";
+ }
+ // 绉婚櫎 "retryCount:鏁板瓧" 鏍煎紡鐨勫唴瀹�
+ String result = memo.replaceAll("retryCount:\\d+", "").trim();
+ // 娓呯悊澶氫綑鐨勯�楀彿
+ result = result.replaceAll("^,|,$", "").replaceAll(",,+", ",");
+ return result;
+ }
+
+ /**
+ * 鏋勯�犺姹傚唴瀹癸紙浠欏伐M4鏍煎紡锛�
*/
private String getRequest(Task task, String nameSpace) {
JSONObject object = new JSONObject();
- object.put("entityName", "ContainerTransportOrder");
- JSONObject entityValue = new JSONObject();
- entityValue.put("id", task.getId());
+ // taskId浣跨敤浠诲姟ID锛屾牸寮忥細T + 浠诲姟ID
+ object.put("taskId", "T" + task.getId());
+ // fromBin浣跨敤婧愬簱浣嶇紪鍙凤紙sourceLocNo锛夛紝濡傛灉涓虹┖鍒欎娇鐢ㄦ簮绔欑偣缂栧彿锛坰ourceStaNo锛変綔涓哄閫�
+ String fromBin = task.getSourceLocNo();
+ if (fromBin == null || fromBin.isEmpty()) {
+ fromBin = task.getSourceStaNo();
+ }
+ if (fromBin == null || fromBin.isEmpty() || "0".equals(fromBin)) {
+ log.warn("浠诲姟{}鐨勬簮搴撲綅鍜屾簮绔欑偣閮戒负绌猴紝浣跨敤榛樿鍊�", task.getId());
+ fromBin = "0";
+ }
+ object.put("fromBin", fromBin);
+ // toBin浣跨敤鐩爣绔欑偣缂栧彿
+ object.put("toBin", task.getStaNo());
+ // robotGroup浠巌nvWh瀛楁鑾峰彇锛屽鏋滄病鏈夊垯鏍规嵁绔欑偣缂栧彿鍒ゆ柇
+ String robotGroup = task.getInvWh();
+ if (robotGroup == null || robotGroup.isEmpty()) {
+ robotGroup = determineRobotGroupByStation(task.getStaNo());
+ }
+ object.put("robotGroup", robotGroup);
+ // kind鏍规嵁浠诲姟绫诲瀷鏄犲皠
String kind = "";
switch (nameSpace) {
case "鍏ュ簱":
- kind = "inBound";
+ // 鍒ゆ柇鏄惁涓虹┖鎵樺叆搴擄細ioType=10 鎴� emptyMk="Y"
+ if (task.getIoType() == 10 || "Y".equals(task.getEmptyMk())) {
+ kind = "绌烘墭鍏ュ簱";
+ } else {
+ kind = "瀹炴墭鍏ュ簱";
+ }
break;
case "鍑哄簱":
- kind = "outBound";
+ kind = "瀹炴墭鍑哄簱";
break;
case "杞Щ":
- kind = "moveBound";
+ kind = "璐х墿杞繍";
break;
default:
+ kind = "璐х墿杞繍";
}
- entityValue.put("kind", kind);
- entityValue.put("status", "Created");
- entityValue.put("priority", 0);
- entityValue.put("container", task.getBarcode());
- entityValue.put("fromBin", task.getSourceStaNo());
- entityValue.put("toBin", task.getStaNo());
- entityValue.put("emptyFlag", task.getIoType() == 10 ? 1 : 2); // 绌烘墭1锛屾弧鎵�2 agv甯︾潃鍛婅瘔杈撻�佺嚎plc
- object.put("entityValue", entityValue.toJSONString());
+ object.put("kind", kind);
return object.toJSONString();
+ }
+
+ /**
+ * 涓轰换鍔″垎閰嶇珯鐐癸紙瀹氭椂浠诲姟涓皟鐢級
+ * @param task 浠诲姟瀵硅薄
+ * @return 濡傛灉鏃犳硶鍒嗛厤绔欑偣锛岃繑鍥為敊璇俊鎭紱濡傛灉鍒嗛厤鎴愬姛锛岃繑鍥瀗ull骞舵洿鏂皌ask鐨剆taNo
+ */
+ private String allocateSiteForTask(Task task) {
+ // 鏍规嵁浠诲姟鐨刬nvWh锛堟満鍣ㄤ汉缁勶級鍒ゆ柇鏄笢渚ц繕鏄タ渚�
+ String robotGroup = task.getInvWh();
+ List<String> targetStations;
+ String groupKey;
+
+ if (robotGroup != null && robotGroup.equals(agvProperties.getRobotGroupEast())) {
+ // 涓滀晶绔欑偣
+ targetStations = agvProperties.getEastStations();
+ groupKey = "east";
+ } else if (robotGroup != null && robotGroup.equals(agvProperties.getRobotGroupWest())) {
+ // 瑗夸晶绔欑偣
+ targetStations = agvProperties.getWestStations();
+ groupKey = "west";
+ } else {
+ // 榛樿浣跨敤涓滀晶
+ targetStations = agvProperties.getEastStations();
+ groupKey = "east";
+ log.warn("浠诲姟ID锛歿}鐨勬満鍣ㄤ汉缁剓}鏈瘑鍒紝浣跨敤榛樿涓滀晶绔欑偣", task.getId(), robotGroup);
+ }
+
+ if (targetStations.isEmpty()) {
+ String errorMsg = "娌℃湁鍙敤鐨勭洰鏍囩珯鐐归厤缃�";
+ log.warn("浠诲姟ID锛歿}", errorMsg, task.getId());
+ return errorMsg;
+ }
+
+ // 灏嗙珯鐐瑰瓧绗︿覆鍒楄〃杞崲涓烘暣鏁板垪琛�
+ List<Integer> siteIntList = targetStations.stream()
+ .map(Integer::parseInt)
+ .collect(Collectors.toList());
+
+ // 鍒ゆ柇鑳藉叆绔欑偣锛坕n_enable="Y"琛ㄧず鑳藉叆锛夛紝鎺掗櫎dev_no=0鐨勬棤鏁堢珯鐐�
+ List<Integer> sites = basDevpMapper.selectList(
+ new EntityWrapper<BasDevp>()
+ .eq("in_enable", "Y")
+ .in("dev_no", siteIntList)
+ .ne("dev_no", 0) // 鎺掗櫎dev_no=0鐨勬棤鏁堢珯鐐�
+ ).stream()
+ .map(BasDevp::getDevNo)
+ .filter(devNo -> devNo != null && devNo != 0) // 鍐嶆杩囨护锛岀‘淇濅笉涓簄ull鎴�0
+ .collect(Collectors.toList());
+
+ if (sites.isEmpty()) {
+ String errorMsg = "娌℃湁鑳藉叆绔欑偣";
+ log.warn("浠诲姟ID锛歿}", errorMsg, task.getId());
+ return errorMsg;
+ }
+
+ // 鍏堟鏌ョ珯鐐归厤缃紙canining="Y"鍙叆锛夛紝鎺掗櫎dev_no=0鐨勬棤鏁堢珯鐐�
+ List<BasDevp> devListWithConfig = basDevpMapper.selectList(new EntityWrapper<BasDevp>()
+ .in("dev_no", sites)
+ .eq("in_enable", "Y")
+ .eq("canining", "Y")
+ .ne("dev_no", 0) // 鎺掗櫎dev_no=0鐨勬棤鏁堢珯鐐�
+ ).stream()
+ .filter(dev -> dev.getDevNo() != null && dev.getDevNo() != 0) // 鍐嶆杩囨护锛岀‘淇濅笉涓簄ull鎴�0
+ .collect(Collectors.toList());
+
+ if (devListWithConfig.isEmpty()) {
+ // 绔欑偣閰嶇疆涓嶅厑璁稿叆搴擄紙canining != "Y"锛夛紝鏆備笉鍒嗛厤锛岀瓑寰呴厤缃紑閫氾紙鍙湪瀹氭椂浠诲姟涓褰曟棩蹇楋級
+ log.warn("浠诲姟ID锛歿}娌℃湁鍙叆绔欑偣锛堢珯鐐规湭寮�閫氬彲鍏ュ厑璁革細canining='Y'锛夛紝鏆備笉鍒嗛厤绔欑偣锛岀瓑寰呴厤缃紑閫�", task.getId());
+ return null; // 杩斿洖null锛岃〃绀烘殏涓嶅垎閰嶏紝绛夊緟閰嶇疆寮�閫�
+ }
+
+ // 鑾峰彇娌℃湁鍑哄簱浠诲姟鐨勭珯鐐癸紙浠庡凡閰嶇疆鍙叆鐨勭珯鐐逛腑绛涢�夛級
+ List<Integer> configuredSites = devListWithConfig.stream()
+ .map(BasDevp::getDevNo)
+ .collect(Collectors.toList());
+ List<Integer> canInSites = basDevpMapper.getCanInSites(configuredSites);
+ if (canInSites.isEmpty()) {
+ // 鎵�鏈夊凡閰嶇疆鍙叆鐨勭珯鐐归兘鏈夊嚭搴撲换鍔★紝鏆備笉鍒嗛厤锛岀瓑寰呬笅娆″畾鏃朵换鍔″啀灏濊瘯锛堝彧鍦ㄥ畾鏃朵换鍔′腑璁板綍鏃ュ織锛�
+ log.warn("浠诲姟ID锛歿}娌℃湁鍙叆绔欑偣锛堣绛夊緟鍑哄簱瀹屾垚锛夛紝鏆備笉鍒嗛厤绔欑偣锛岀瓑寰呬笅娆″畾鏃朵换鍔″啀灏濊瘯", task.getId());
+ return null; // 杩斿洖null锛岃〃绀烘殏涓嶅垎閰嶏紝绛夊緟涓嬫瀹氭椂浠诲姟鍐嶅皾璇�
+ }
+
+ // 瀵绘壘鍏ュ簱浠诲姟鏈�灏戠殑绔欑偣锛堜笖蹇呴』in_enable="Y"鑳藉叆 鍜� canining="Y"鍙叆锛夛紝鎺掗櫎dev_no=0鐨勬棤鏁堢珯鐐�
+ List<BasDevp> devList = basDevpMapper.selectList(new EntityWrapper<BasDevp>()
+ .in("dev_no", canInSites)
+ .eq("in_enable", "Y")
+ .eq("canining", "Y")
+ .ne("dev_no", 0) // 鎺掗櫎dev_no=0鐨勬棤鏁堢珯鐐�
+ ).stream()
+ .filter(dev -> dev.getDevNo() != null && dev.getDevNo() != 0) // 鍐嶆杩囨护锛岀‘淇濅笉涓簄ull鎴�0
+ .collect(Collectors.toList());
+
+ if (devList.isEmpty()) {
+ // 鐞嗚涓婁笉搴旇鍒拌繖閲岋紝鍥犱负鍓嶉潰宸茬粡妫�鏌ヨ繃浜嗭紝浣嗕负浜嗗畨鍏ㄨ捣瑙佽繕鏄繚鐣�
+ String errorMsg = "娌℃湁鍙叆绔欑偣锛坕n_enable='Y'涓攃anining='Y'锛�";
+ log.warn("浠诲姟ID锛歿}", errorMsg, task.getId());
+ return errorMsg;
+ }
+
+ // 鍏堟寜瑙勫垯鎺掑簭锛堝叆搴撲换鍔℃暟鎺掑簭锛�
+ devList.sort(Comparator.comparing(BasDevp::getInQty));
+
+ // 鏍规嵁浠诲姟绫诲瀷纭畾瑕佹鏌ョ殑io_type鍒楄〃
+ Integer taskIoType = task.getIoType();
+ List<Integer> checkIoTypes = null;
+ String taskTypeName = "";
+ if (taskIoType != null) {
+ if (taskIoType < 100) {
+ // 鍏ュ簱浠诲姟锛氬彧妫�鏌ュ叆搴撶被鍨嬶紙1, 10, 53, 57锛�
+ checkIoTypes = Arrays.asList(1, 10, 53, 57);
+ taskTypeName = "鍏ュ簱";
+ } else {
+ // 鍑哄簱浠诲姟锛氬彧妫�鏌ュ嚭搴撶被鍨嬶紙101, 110, 103, 107锛�
+ checkIoTypes = Arrays.asList(101, 110, 103, 107);
+ taskTypeName = "鍑哄簱";
+ }
+ }
+
+ // 绛涢�夊嚭浠诲姟鏁版渶灏戠殑绔欑偣鍒楄〃锛堟寜瑙勫垯鎺掑簭鍚庣殑鍊欓�夌珯鐐癸級
+ int minInQty = devList.get(0).getInQty();
+ List<BasDevp> minTaskSites = devList.stream()
+ .filter(dev -> dev.getInQty() == minInQty)
+ .collect(Collectors.toList());
+
+ // 鏍规嵁閰嶇疆閫夋嫨鍒嗛厤绛栫暐锛岀‘瀹氫紭鍏堝垎閰嶇殑绔欑偣椤哄簭
+ List<BasDevp> orderedSites = new ArrayList<>();
+ String strategy = agvProperties.getSiteAllocation().getStrategy();
+ boolean enableRoundRobin = agvProperties.getSiteAllocation().isEnableRoundRobin();
+
+ if (minTaskSites.size() > 1 && enableRoundRobin && "round-robin".equals(strategy)) {
+ // 杞鍒嗛厤锛氬厛鎸夎疆璇㈢瓥鐣ユ帓搴�
+ AtomicInteger counter = siteRoundRobinCounters.computeIfAbsent(groupKey, k -> new AtomicInteger(0));
+ int startIndex = counter.get() % minTaskSites.size();
+ // 灏嗚疆璇㈤�変腑鐨勭珯鐐规斁鍦ㄦ渶鍓嶉潰
+ orderedSites.addAll(minTaskSites.subList(startIndex, minTaskSites.size()));
+ orderedSites.addAll(minTaskSites.subList(0, startIndex));
+ // 娣诲姞鍏朵粬绔欑偣锛堜换鍔℃暟鏇村鐨勶級
+ orderedSites.addAll(devList.stream()
+ .filter(dev -> dev.getInQty() > minInQty)
+ .collect(Collectors.toList()));
+ log.debug("浣跨敤杞鍒嗛厤绛栫暐锛岀珯鐐圭粍锛歿}锛岃疆璇㈣捣濮嬬储寮曪細{}", groupKey, startIndex);
+ } else if (minTaskSites.size() > 1 && enableRoundRobin && "random".equals(strategy)) {
+ // 闅忔満鍒嗛厤锛氬厛闅忔満鎺掑簭浠诲姟鏁版渶灏戠殑绔欑偣
+ List<BasDevp> shuffledMinSites = new ArrayList<>(minTaskSites);
+ Collections.shuffle(shuffledMinSites);
+ orderedSites.addAll(shuffledMinSites);
+ // 娣诲姞鍏朵粬绔欑偣锛堜换鍔℃暟鏇村鐨勶級
+ orderedSites.addAll(devList.stream()
+ .filter(dev -> dev.getInQty() > minInQty)
+ .collect(Collectors.toList()));
+ log.debug("浣跨敤闅忔満鍒嗛厤绛栫暐");
+ } else {
+ // 榛樿锛氭寜鍏ュ簱浠诲姟鏁版帓搴忥紙宸茬粡鎺掑簭濂戒簡锛�
+ orderedSites = devList;
+ }
+
+ // 渚濇妫�鏌ユ瘡涓珯鐐规槸鍚﹀湪鎼繍锛屾壘鍒扮涓�涓┖闂茬珯鐐瑰氨鍒嗛厤
+ BasDevp selectedSite = null;
+ for (BasDevp dev : orderedSites) {
+ String staNo = String.valueOf(dev.getDevNo());
+
+ // 濡傛灉浠诲姟绫诲瀷涓嶄负绌猴紝妫�鏌ヨ绔欑偣鏄惁鏈夋鍦ㄦ惉杩愮殑鍚岀被鍨嬩换鍔�
+ boolean isTransporting = false;
+ if (checkIoTypes != null && !checkIoTypes.isEmpty()) {
+ List<Task> transportingTasks = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("sta_no", staNo)
+ .eq("task_type", "agv")
+ .eq("wrk_sts", 8L) // 鍙鏌ユ鍦ㄦ惉杩愮姸鎬佺殑浠诲姟
+ .in("io_type", checkIoTypes)
+ );
+ isTransporting = !transportingTasks.isEmpty();
+
+ if (isTransporting) {
+ log.debug("绔欑偣{}鏈墈}涓鍦ㄦ惉杩愮殑{}AGV浠诲姟锛屾鏌ヤ笅涓�涓珯鐐�",
+ staNo, transportingTasks.size(), taskTypeName);
+ continue; // 璇ョ珯鐐规鍦ㄦ惉杩愶紝妫�鏌ヤ笅涓�涓珯鐐�
+ }
+ }
+
+ // 鎵惧埌绗竴涓┖闂茬珯鐐癸紝鍒嗛厤
+ selectedSite = dev;
+ log.info("浠诲姟ID锛歿}鎸夎鍒欏簲鍒嗛厤鍒扮珯鐐箋}锛岃绔欑偣绌洪棽锛屽垎閰嶆垚鍔�", task.getId(), staNo);
+ break;
+ }
+
+ // 濡傛灉鎵�鏈夌珯鐐归兘鍦ㄦ惉杩愶紝鍒欎笉鍒嗛厤绔欑偣锛堝彧鍦ㄥ畾鏃朵换鍔′腑璁板綍鏃ュ織锛屼笉杩斿洖閿欒淇℃伅锛�
+ if (selectedSite == null) {
+// log.warn("浠诲姟ID锛歿}锛屾殏涓嶅垎閰嶇珯鐐癸紝绛夊緟绌洪棽 - 鎵�鏈夊�欓�夌珯鐐归兘鏈夋鍦ㄦ惉杩愮殑{}浠诲姟",
+// task.getId(), taskIoType != null && taskIoType < 100 ? "鍏ュ簱" : "鍑哄簱");
+ return null; // 杩斿洖null锛岃〃绀烘殏涓嶅垎閰嶏紝绛夊緟涓嬫瀹氭椂浠诲姟鍐嶅皾璇�
+ }
+
+ Integer endSite = selectedSite.getDevNo();
+
+ // 妫�鏌ョ珯鐐规槸鍚︽湁鏁堬紙涓嶈兘涓�0鎴杗ull锛�
+ if (endSite == null || endSite == 0) {
+ String errorMsg = String.format("鍒嗛厤鐨勭珯鐐规棤鏁堬紙dev_no=%s锛�", endSite);
+ log.error("浠诲姟ID锛歿}锛寋}", task.getId(), errorMsg);
+ return errorMsg;
+ }
+
+ // 鍏ュ簱鏆傚瓨+1
+ basDevpMapper.incrementInQty(endSite);
+
+ // 鏇存柊浠诲姟鐨勭珯鐐圭紪鍙�
+ task.setStaNo(String.valueOf(endSite));
+ taskService.updateById(task);
+
+ log.info("浠诲姟ID锛歿}宸插垎閰嶇珯鐐癸細{}", task.getId(), endSite);
+ return null; // 鍒嗛厤鎴愬姛锛岃繑鍥瀗ull
+ }
+
+ /**
+ * 鏍规嵁绔欑偣缂栧彿鍒ゆ柇鏈哄櫒浜虹粍
+ * @param staNo 绔欑偣缂栧彿
+ * @return 鏈哄櫒浜虹粍鍚嶇О
+ */
+ private String determineRobotGroupByStation(String staNo) {
+ if (staNo == null || staNo.isEmpty()) {
+ return agvProperties.getRobotGroupEast(); // 榛樿浣跨敤涓滀晶鏈哄櫒浜虹粍
+ }
+
+ // 浠庨厤缃腑鑾峰彇绔欑偣鍒楄〃
+ Set<String> eastStations = new HashSet<>(agvProperties.getEastStations());
+ Set<String> westStations = new HashSet<>(agvProperties.getWestStations());
+
+ // 鍒ゆ柇绔欑偣灞炰簬鍝竴渚�
+ if (eastStations.contains(staNo)) {
+ return agvProperties.getRobotGroupEast(); // 涓滀晶鏈哄櫒浜�
+ } else if (westStations.contains(staNo)) {
+ return agvProperties.getRobotGroupWest(); // 瑗夸晶鏈哄櫒浜�
+ } else {
+ log.warn("绔欑偣缂栧彿涓嶅湪閰嶇疆鍒楄〃涓紝浣跨敤榛樿鏈哄櫒浜虹粍锛歿}", staNo);
+ return agvProperties.getRobotGroupEast(); // 榛樿浣跨敤涓滀晶鏈哄櫒浜虹粍
+ }
}
/**
@@ -157,10 +669,11 @@
@Transactional(rollbackFor = Exception.class)
public void moveTaskToHistory(List<Task> taskList) {
- // 鍐欏叆鍘嗗彶琛�
+ // 鍐欏叆鍘嗗彶琛紝淇濇寔ID涓�鑷�
for (Task task : taskList) {
TaskLog log = new TaskLog();
BeanUtils.copyProperties(task, log);
+ // 淇濇寔ID涓�鑷达紝涓嶈缃负null
taskLogService.insert(log);
}
@@ -217,4 +730,92 @@
basStationMapper.updateLocStsBatch( Collections.singletonList(String.valueOf(endSite)), "S");
}
}
+
+ /**
+ * 鍙栨秷AGV浠诲姟锛堜粰宸4鎺ュ彛锛�
+ * @param task 浠诲姟瀵硅薄
+ * @return 鏄惁鎴愬姛
+ */
+ public boolean cancelAgvTask(Task task) {
+ if (!agvProperties.isSendTask()) {
+ return false;
+ }
+
+ if (task == null || task.getId() == null) {
+ log.error("鍙栨秷AGV浠诲姟澶辫触锛氫换鍔℃垨浠诲姟ID涓虹┖");
+ return false;
+ }
+
+ String response = "";
+ boolean success = false;
+ String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CANCEL_TASK_PATH;
+ String namespace = "";
+ String kind = "";
+
+ // 鏍规嵁浠诲姟绫诲瀷纭畾kind鍜宯amespace
+ switch (task.getIoType()) {
+ case 1:
+ case 10:
+ case 53:
+ case 57:
+ namespace = "鍏ュ簱";
+ kind = "瀹炴墭鍏ュ簱";
+ break;
+ case 3:
+ namespace = "杞Щ";
+ kind = "璐х墿杞繍";
+ break;
+ case 101:
+ case 110:
+ case 103:
+ case 107:
+ namespace = "鍑哄簱";
+ kind = "瀹炴墭鍑哄簱";
+ break;
+ default:
+ kind = "璐х墿杞繍";
+ }
+
+ // 鏋勯�犲彇娑堜换鍔¤姹�
+ JSONObject cancelRequest = new JSONObject();
+ cancelRequest.put("taskId", "T" + task.getId());
+ cancelRequest.put("kind", kind);
+ String body = cancelRequest.toJSONString();
+
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(ApiInterfaceConstant.AGV_IP)
+ .setPath(ApiInterfaceConstant.AGV_CANCEL_TASK_PATH)
+ .setJson(body)
+ .build()
+ .doPost();
+
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code") != null && jsonObject.getInteger("code").equals(200)) {
+ success = true;
+ log.info(namespace + "鍙栨秷AGV浠诲姟鎴愬姛锛歿}", task.getId());
+ } else {
+ log.error(namespace + "鍙栨秷AGV浠诲姟澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", url, body, response);
+ }
+ } catch (Exception e) {
+ log.error(namespace + "鍙栨秷AGV浠诲姟寮傚父", e);
+ } finally {
+ try {
+ // 淇濆瓨鎺ュ彛鏃ュ織
+ apiLogService.save(
+ namespace + "鍙栨秷AGV浠诲姟",
+ url,
+ null,
+ "127.0.0.1",
+ body,
+ response,
+ success
+ );
+ } catch (Exception e) {
+ log.error(namespace + "鍙栨秷AGV浠诲姟淇濆瓨鎺ュ彛鏃ュ織寮傚父:", e);
+ }
+ }
+
+ return success;
+ }
}
--
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