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; import com.zy.acs.common.domain.AgvProtocol; import com.zy.acs.common.domain.BaseResult; import com.zy.acs.common.domain.protocol.AGV_11_UP; import com.zy.acs.common.domain.protocol.AGV_70_UP; import com.zy.acs.common.domain.protocol.IMessageBody; import com.zy.acs.common.domain.protocol.action.*; import com.zy.acs.common.enums.AgvBackpackType; import com.zy.acs.common.enums.AgvCompleteType; import com.zy.acs.common.enums.AgvDirectionType; import com.zy.acs.common.enums.AgvSpeedType; import com.zy.acs.common.utils.GsonUtils; import com.zy.acs.common.utils.Utils; import com.zy.acs.framework.common.Cools; import com.zy.acs.framework.common.SnowflakeIdWorker; import com.zy.acs.framework.exception.CoolException; import com.zy.acs.manager.common.domain.TaskDto; import com.zy.acs.manager.common.domain.param.HandlerPublishParam; import com.zy.acs.manager.common.exception.BusinessException; import com.zy.acs.manager.core.domain.AgvBackpackDto; import com.zy.acs.manager.core.domain.Lane; import com.zy.acs.manager.core.domain.TaskPosDto; import com.zy.acs.manager.core.service.astart.MapDataDispatcher; import com.zy.acs.manager.core.utils.HttpHandler; import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam; import com.zy.acs.manager.manager.entity.*; 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.Service; import org.springframework.transaction.annotation.Propagation; import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.io.IOException; import java.util.*; import java.util.concurrent.TimeUnit; import java.util.stream.Collectors; /** * Created by vincent on 2023/6/14 */ @Slf4j @Service("mainService") public class MainService { @Autowired private BusService busService; @Autowired private TaskService taskService; @Autowired private ActionService actionService; @Autowired private StaService staService; @Autowired private LocService locService; @Autowired private AgvService agvService; @Autowired private AgvDetailService agvDetailService; @Autowired private ConfigService configService; @Autowired private ValidService validService; @Autowired private AllocateService allocateService; @Autowired private CodeService codeService; @Autowired private MapService mapService; @Autowired private SnowflakeIdWorker snowflakeIdWorker; @Autowired private CodeGapService codeGapService; @Autowired private AgvCmdService agvCmdService; @Autowired private FuncStaService funcStaService; @Autowired private MapDataDispatcher mapDataDispatcher; @Autowired private TravelService travelService; @Autowired private SegmentService segmentService; @Autowired private TrafficService trafficService; @Autowired private AgvModelService agvModelService; @Autowired private LaneService laneService; @Autowired private ActionSorter actionSorter; @Autowired private TaskReportService taskReportService; @Autowired private AgvDurationService agvDurationService; @SuppressWarnings("all") @Transactional public Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) { String errorMsg = busService.checkoutValid(busSubmitParam); if (!Cools.isEmpty(errorMsg)) { throw new BusinessException(errorMsg); } String batch = busSubmitParam.getBatch(); List taskDtoList = busSubmitParam.getTaskList(); if (Cools.isEmpty(taskDtoList)) { throw new BusinessException("taskList can't be empty!"); } // 优先级排序 taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority()); // 校验 List taskList = validService.validTaskDtoList(taskDtoList); // 保存总线 Date now = new Date(); Bus bus = new Bus(); bus.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); bus.setBusNo(batch); bus.setStartTime(now); bus.setBusSts(BusStsType.RECEIVE.val()); bus.setMemo(memo); if (!busService.save(bus)) { throw new BusinessException("Internal Server Error!"); } Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, true); Integer locStaTaskNum = configService.getVal("LOC_STA_TASK_NUM", Integer.class, 2); // 保存任务 for (Task task : taskList) { task.setBusId(bus.getId()); task.setTaskSts(TaskStsType.INIT.val()); if (!taskService.save(task)) { throw new BusinessException("seqNum:" + task.getSeqNum() + " failed to save!"); } // 修改库位状态 Loc oriLoc = null; Loc destLoc = null; Sta oriSta = null; Sta destSta = null; switch (TaskTypeType.get(task.getTaskTypeEl())) { case LOC_TO_LOC: oriLoc = locService.getById(task.getOriLoc()); if (locStaStatusCheck && !oriLoc.getLocSts().equals(LocStsType.STOCK.val())) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status"); } oriLoc.setLocSts(LocStsType.PAKOUT.val()); oriLoc.setUpdateTime(now); if (!locService.updateById(oriLoc)) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update"); } destLoc = locService.getById(task.getDestLoc()); if (locStaStatusCheck && !destLoc.getLocSts().equals(LocStsType.IDLE.val())) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status"); } destLoc.setLocSts(LocStsType.PAKIN.val()); destLoc.setUpdateTime(now); if (!locService.updateById(destLoc)) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update"); } break; case LOC_TO_STA: oriLoc = locService.getById(task.getOriLoc()); if (locStaStatusCheck && !oriLoc.getLocSts().equals(LocStsType.STOCK.val())) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status"); } oriLoc.setLocSts(LocStsType.PAKOUT.val()); oriLoc.setUpdateTime(now); if (!locService.updateById(oriLoc)) { throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update"); } destSta = staService.getById(task.getDestSta()); if (destSta.getStaTypeIsCheck() != 1) { if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) { throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status"); } } else { List list = taskService.list(new LambdaQueryWrapper().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())); if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) { throw new BusinessException("destSta：" + task.getDestSta$() + " task more"); } } destSta.setStaSts(StaStsType.READY_RELEASE.val()); destSta.setUpdateTime(now); if (!staService.updateById(destSta)) { throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update"); } break; case STA_TO_LOC: oriSta = staService.getById(task.getOriSta()); if (oriSta.getStaTypeIsCheck() != 1) { if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) { throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status"); } } oriSta.setStaSts(StaStsType.READY_TAKE.val()); oriSta.setUpdateTime(now); if (!staService.updateById(oriSta)) { throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update"); } destLoc = locService.getById(task.getDestLoc()); if (locStaStatusCheck && !destLoc.getLocSts().equals(LocStsType.IDLE.val())) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status"); } destLoc.setLocSts(LocStsType.PAKIN.val()); destLoc.setUpdateTime(now); if (!locService.updateById(destLoc)) { throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update"); } break; case STA_TO_STA: oriSta = staService.getById(task.getOriSta()); if (oriSta.getStaTypeIsCheck() != 1) { if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) { throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status"); } } oriSta.setStaSts(StaStsType.READY_TAKE.val()); oriSta.setUpdateTime(now); if (!staService.updateById(oriSta)) { throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update"); } destSta = staService.getById(task.getDestSta()); if (destSta.getStaTypeIsCheck() != 1) { if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) { throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status"); } } else { List list = taskService.list(new LambdaQueryWrapper().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())); if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) { throw new BusinessException("destSta：" + task.getDestSta$() + " task more"); } } destSta.setStaSts(StaStsType.READY_RELEASE.val()); destSta.setUpdateTime(now); if (!staService.updateById(destSta)) { throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update"); } break; default: break; } } return bus; } /** * 任务分配给车辆 ( 车辆此时是空闲且静止的 ) */ @Transactional public synchronized void allocateTask(Bus bus) { try { Date now = new Date(); List taskList = taskService.list(new LambdaQueryWrapper() .eq(Task::getBusId, bus.getId()) .eq(Task::getTaskSts, TaskStsType.INIT.val()) .orderByDesc(Task::getPriority) ); if (Cools.isEmpty(taskList)) { if (bus.getBusSts().equals(BusStsType.RECEIVE.val())) { bus.setBusSts(BusStsType.PROGRESS.val()); bus.setUpdateTime(now); if (!busService.updateById(bus)) { log.error("Bus [{}] failed to Update ！！！", bus.getUuid()); } } return; } List taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList()); for (Task task : taskList) { Agv agv = allocateService.execute(task); if (null == agv) { // log.warn("Task[{}] has an issue， because it failed to check out 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"); } report(task, null, TaskReportStsType.START); } } catch (Exception e) { log.error("mainService.infuseAgvForTask", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 解析取放货集合任务,进行最优的排列组合顺序 ( 车辆此时是空闲且静止的 ) * todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)} */ @Transactional(propagation = Propagation.REQUIRES_NEW) public void buildMajorTask(Long agvId, List taskList) { if (Cools.isEmpty(agvId, taskList)) { return; } try { // valid ----------------------------------------------- Agv agv = agvService.getById(agvId); if (!agvService.judgeEnable(agv.getId(), false)) { return; } if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) { throw new CoolException("AGV[" + agv.getUuid() + "]分配任务失败，已存在执行任务..."); } 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，because already has the segment in running..."); } // execute ---------------------------------------------------- Date now = new Date(); // sort and sub taskList.sort(new Comparator() { @Override public int compare(Task o1, Task o2) { return o2.getPriority() - o1.getPriority(); } }); Integer backpack = agvService.getBackpack(agv); if (taskList.size() > backpack) { taskList = taskList.subList(0, backpack); } AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId); List backpackDtoList = new ArrayList<>(); /** * 同巷道归类 * same lane for every single agvId * * 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> groups = new HashMap<>(); final String sameGroupXy = configService.getVal("sameGroupXy", String.class); int backpackLev = 0; for (Task task : taskList) { backpackLev++; Code startCode = null; Code endCode = 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()); destLoc = locService.getById(task.getDestLoc()); 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); break; case LOC_TO_STA: oriLoc = locService.getById(task.getOriLoc()); destSta = staService.getById(task.getDestSta()); 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); break; case STA_TO_LOC: oriSta = staService.getById(task.getOriSta()); destLoc = locService.getById(task.getDestLoc()); 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); break; case STA_TO_STA: oriSta = staService.getById(task.getOriSta()); destSta = staService.getById(task.getDestSta()); 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); break; default: throw new BusinessException(task.getSeqNum() + "任务类型错误"); } if (backpackLev > backpack) { throw new BusinessException("解析Task失败,AGV背篓已满......"); } backpackDtoList.add(new AgvBackpackDto(backpackLev, task.getId())); } /** * 1.Map> groups * * key: 1000 + ORIGIN * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 3000 + ORIGIN * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 2000 + ORIGIN * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 1000 + DESTINATION * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * key: 2000 + DESTINATION * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] * * ...... * * 2.ArrayList> 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),...], * ...... * ] */ /** * 对所有巷道进行有序排序，先是针对List为一个单位，对他们进行FirstWeight排序，相当于表1的key的数值进行有序排序 * List: task list on the same lane * ArrayList>: all the task list by one agv * * tip: ORI 和 DEST 永远不会存在同一个 List */ ArrayList> list = new ArrayList<>(groups.values()); list.sort((o1, o2) -> { double o1CompVal = (o1.get(0).getFirstWeight(sameGroupXy) * 100) + o1.get(0).getPosType().compOffset; double o2CompVal = (o2.get(0).getFirstWeight(sameGroupXy) * 100) + o2.get(0).getPosType().compOffset; return (int) (o1CompVal - o2CompVal); }); // 针对Dto，按照SecondWeight进行排序 for (List taskPosDtoList : list) { taskPosDtoList.sort((o1, o2) -> (int) (o1.getSecondWeight(sameGroupXy) * 100 - o2.getSecondWeight(sameGroupXy) * 100)); } // re-order by agv current position Code currCode = codeService.getCacheById(agvDetail.getRecentCode()); Double[] currPosition = new Double[]{currCode.getX(), currCode.getY()}; List> pickGroups = new ArrayList<>(); List> dropGroups = new ArrayList<>(); for (List group : list) { // Assume 一个任务组中所有TaskPosDto的PosType.brief相同 TaskPosDto.PosType posType = group.get(0).getPosType(); if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) { pickGroups.add(group); } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) { dropGroups.add(group); } else { // import tip: the list must only contain ORIGIN and DESTINATION log.error("the list must only contain ORIGIN and DESTINATION"); } } currPosition = allocateService.pac(currPosition, pickGroups); currPosition = allocateService.pac(currPosition, dropGroups); List> reorderedList = new ArrayList<>(); reorderedList.addAll(pickGroups); reorderedList.addAll(dropGroups); list.clear(); list.addAll(reorderedList); // generate travel Travel travel = new Travel(); travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setAgvId(agvId); travel.setTaskContent(JSON.toJSONString(list)); travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList()))); travel.setState(TravelStateType.RUNNING.toString()); if (!travelService.save(travel)) { throw new BusinessException("任务组保存失败"); } // generate segment int segSerial = 0; List segmentList = new ArrayList<>(); for (List dtoList : list) { for (TaskPosDto taskPosDto : dtoList) { segSerial++; AgvBackpackType backpackType = AgvBackpackDto.find(backpackDtoList, taskPosDto.getTaskId()); assert null != backpackType; Segment segment = new Segment(); segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); segment.setTravelId(travel.getId()); segment.setAgvId(agvId); segment.setTaskId(taskPosDto.getTaskId()); segment.setSerial(segSerial); segment.setEndNode(taskPosDto.getCodeId()); segment.setPosType(taskPosDto.getPosType().toString()); segment.setBackpack(backpackType.lev); segment.setState(SegmentStateType.INIT.toString()); segmentList.add(segment); } } for (int i = 0; i < segmentList.size(); i++) { Segment segment = segmentList.get(i); if (i == 0) { segment.setState(SegmentStateType.WAITING.toString()); } if (!segmentService.save(segment)) { throw new BusinessException("任务组保存失败"); } } // 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() + "任务更新失败"); } } } catch (Exception e) { log.error("mainService.buildMajorTask[task]", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 充电 回待机位任务 */ @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; } try { String agvNo = agvService.getAgvNo(agvId); if (!agvService.judgeEnable(agvId)) { return false; } if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) { throw new CoolException("AGV[" + agvNo + "] failed to assign，because already has the task 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，because 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 idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agvId); if (!Cools.isEmpty(idleFunStaList)) { FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList); endCode = codeService.getCacheById(funcSta.getCode()); } if (null == endCode) { log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agvNo, taskType.toString()); } break; case MOVE: endCode = codeService.getCacheByData(destination); break; default: return false; } if (null == endCode) { return false; } 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(agvId); task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); List lastTasks = taskService.list(new LambdaQueryWrapper().orderByDesc(Task::getId)); task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks) ? null : lastTasks.get(0).getSeqNum())); task.setOriCode(agvDetail.getCode()); task.setDestCode(endCode.getId()); // lane Lane destLane = laneService.search(endCode.getData()); if (null != destLane) { task.setDestLaneHash(destLane.getHashCode()); } task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE) ? 2 : 1); task.setTaskSts(TaskStsType.ASSIGN.val()); task.setTaskType(taskType.val()); task.setIoTime(now); task.setStartTime(now); if (!taskService.save(task)) { throw new BusinessException(task.getSeqNum() + " failed to save"); } // generate travel Travel travel = new Travel(); travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setAgvId(agvId); // travel.setTaskContent(JSON.toJSONString(list)); travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId()))); travel.setState(TravelStateType.RUNNING.toString()); if (!travelService.save(travel)) { throw new BusinessException("travel failed to save"); } // generate segment int segSerial = 0; segSerial++; List segmentList = new ArrayList<>(); String posType = ""; switch (taskType) { case TO_CHARGE: posType = TaskPosDto.PosType.TO_CHARGE.toString(); //插入充电任务 AgvDuration agvDuration = new AgvDuration(); agvDuration.setHappenTime(now); agvDuration.setAgvId(agvId); agvDuration.setTaskNo(task.getId()); agvDurationService.save(agvDuration); break; case TO_STANDBY: posType = TaskPosDto.PosType.TO_STANDBY.toString(); break; case MOVE: posType = TaskPosDto.PosType.MOVE.toString(); break; default: break; } Segment segment = new Segment(); segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); segment.setTravelId(travel.getId()); segment.setAgvId(agvId); segment.setTaskId(task.getId()); segment.setSerial(segSerial); segment.setEndNode(endCode.getId()); segment.setPosType(posType); segment.setState(SegmentStateType.INIT.toString()); segmentList.add(segment); for (int i = 0; i < segmentList.size(); i++) { Segment next = segmentList.get(i); if (i == 0) { next.setState(SegmentStateType.WAITING.toString()); } if (!segmentService.save(next)) { throw new BusinessException("segment failed to save"); } else { if (null != jam && i == 0) { jam.setAvoSeg(next.getId()); jam.setAvoCode(endCode.getId()); } } } switch (taskType) { case TO_CHARGE: case TO_STANDBY: // funcSta FuncSta destFuncSta = funcStaService.getByCodeAndType(task.getDestCode(), FuncStaType.query(taskType).toString()); destFuncSta.setState(FuncStaStateType.OCCUPIED.toString()); destFuncSta.setUpdateTime(now); if (!funcStaService.updateById(destFuncSta)) { log.error("FuncSta [{}] failed to update ！！！", destFuncSta.getName()); } break; case MOVE: break; default: break; } return true; } catch (Exception e) { log.error("mainService.buildMinorTask[task]", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); return false; } } /** * 根据分片生成动作 ( 车辆可能已经做过一些任务了,正在等待下一段任务 ) */ @Transactional public synchronized void generateAction(Long agvId, List segmentList, List pathList, Date algoStartTime) { try { 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 + "]当前不可用..."); // } AgvModel agvModel = agvModelService.getByAgvId(agvId); Double workDirection = agvModel.getWorkDirection(); AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed()); assert agvSpeedType != null; AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId); List actionList = new ArrayList<>(); // start node Code lastCode = codeService.getCacheById(agvDetail.getRecentCode()); Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle()); if (!lastCode.getData().equals(pathList.get(0))) { throw new CoolException("AGV[" + agvNo + "]定位偏移..."); } boolean first = true; for (Segment segment : segmentList) { // 分段所属的Task Task task = taskService.getById(segment.getTaskId()); // 节点条码 Code code = codeService.getCacheById(segment.getEndNode()); // 需要走行 if (!lastCode.getData().equals(code.getData())) { // 走行路径节点 // List pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code); List pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1); for (int i = 0; i < pathListPart.size(); i++) { if (i == 0) { continue; } String next = pathListPart.get(i); Code nextCode = codeService.getCacheByData(next); Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal); // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true boolean reverse = false; if (nextDirection.equals((workDirection + 180) % 360)) { nextDirection = workDirection; reverse = true; } // 第二步：判断当前节点是否可以旋转 if (!lastCode.getCornerBool()) { // 如果是作业方向，但是小车在巷道内方向错误，则停止 if (reverse && !lastDirection.equals(nextDirection)) { // throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整"); } // 如果不是作业方向，判断是否相反方向，如果反方向则倒退行走 if (nextDirection.equals((lastDirection + 180) % 360)) { nextDirection = lastDirection; reverse = true; } } else { if (!lastDirection.equals(nextDirection)) { // 如果下个节点方向与当前agv方向相反，则倒退行走，但是如果当前agv方向正好与工作方向相反，则旋转至工作方向 if (nextDirection.equals((lastDirection + 180) % 360) && !workDirection.equals((lastDirection + 180) % 360)) { nextDirection = lastDirection; reverse = true; } else { // turn actionList.add(new Action( null, // 编号s task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值 lastCode.getData(), // 地面码 String.valueOf(nextDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = nextDirection; } } } // 第一个动作一定是 turn if (actionList.isEmpty()) { // turn actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值 lastCode.getData(), // 地面码 String.valueOf(nextDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = nextDirection; } // run ActionTypeType actionType = ActionTypeType.StraightAheadTurnable; if (reverse) { actionType = ActionTypeType.StraightBackTurnable; } CodeGap gap = codeGapService.findByCodeOfBoth(lastCode.getId(), nextCode.getId()); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 actionType.desc, // 名称 (double) agvSpeedType.val, // 属性值 lastCode.getData(), // 地面码 String.valueOf(gap.getDistance()), // 动作参数 actionType.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastCode = nextCode; } } // 初始方向值补丁 if (first) { if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) { // turn actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值 lastCode.getData(), // 地面码 String.valueOf(workDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = workDirection; } first = false; } // 作业点动作 AgvDirectionType agvDirectionType; Double staWorkDirection; AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack()); switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) { case ORI_LOC: assert backpackType != null; // 检验方向 if (!lastDirection.equals(workDirection)) { throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整"); } // 货架取货 Loc oriLoc = locService.getById(task.getOriLoc()); // 计算左右方向 agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyTakeFromShelvesLoc.desc, // 名称 (double) agvDirectionType.val, // 属性值 lastCode.getData(), // 地面码 String.valueOf(oriLoc.getOffset()), // 动作参数 ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); // 暂存点放货 actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称 (double) backpackType.lev, // 属性值 lastCode.getData(), // 地面码 String.valueOf(backpackType.height), // 动作参数 ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); break; case DEST_LOC: assert backpackType != null; // 检验方向 if (!lastDirection.equals(workDirection)) { throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整"); } // 暂存点取货货 actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称 (double) backpackType.lev, // 属性值 lastCode.getData(), // 地面码 String.valueOf(backpackType.height), // 动作参数 ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); // 货架放货 Loc destLoc = locService.getById(task.getDestLoc()); // 计算左右方向 agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 名称 (double) agvDirectionType.val, // 属性值 lastCode.getData(), // 地面码 String.valueOf(destLoc.getOffset()), // 动作参数 ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); break; case ORI_STA: // 站点取货 Sta oriSta = staService.getById(task.getOriSta()); Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection); // 检验方向 if (!lastDirection.equals(oriStaWorkDirection)) { if (!lastCode.getCornerBool()) { throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整"); } // turn actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性값 lastCode.getData(), // 地面码 String.valueOf(oriStaWorkDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = oriStaWorkDirection; } // 计算货叉工作方向 staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyTakeFromConveyorSta.desc, // 名称 staWorkDirection, // 属性值 lastCode.getData(), // 地面码 String.valueOf(oriSta.getOffset()), // 动作参数 ActionTypeType.ReadyTakeFromConveyorSta.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now, // 工作时间 oriSta.getStaTypeIsCheck() == 1 ? 1 : 0, oriSta.getStaNo() )); // 暂存点放货 assert backpackType != null; actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称 (double) backpackType.lev, // 属性값 lastCode.getData(), // 地面码 String.valueOf(backpackType.height), // 动作参数 ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); break; case DEST_STA: // 站点放货 Sta destSta = staService.getById(task.getDestSta()); Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection); // 检验方向 if (!lastDirection.equals(destStaWorkDirection)) { if (!lastCode.getCornerBool()) { throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整"); } // turn actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性값 lastCode.getData(), // 地面码 String.valueOf(destStaWorkDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = destStaWorkDirection; } // 暂存点取货 assert backpackType != null; actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称 (double) backpackType.lev, // 属性값 lastCode.getData(), // 地面码 String.valueOf(backpackType.height), // 动作参数 ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); // 计算货叉工作方向 staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection); actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.ReadyReleaseToConveyorSta.desc, // 名称 staWorkDirection, // 属性값 lastCode.getData(), // 地面码 String.valueOf(destSta.getOffset()), // 动作参数 ActionTypeType.ReadyReleaseToConveyorSta.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now, // 工作时间 destSta.getStaTypeIsCheck() == 1 ? 2 : 0, destSta.getStaNo() )); break; case TO_CHARGE: // 检验方向 FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString()); Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle()); if (!lastDirection.equals(chargeDirection)) { actionList.add(new Action( null, // 编号 null, // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.TurnCorner.desc, // 名称 mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性값 lastCode.getData(), // 地面码 String.valueOf(chargeDirection), // 动作参数 ActionTypeType.TurnCorner.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); lastDirection = chargeDirection; } // charge actionList.add(new Action( null, // 编号 null, // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.DockingCharge.desc, // 名称 null, // 属性값 lastCode.getData(), // 地面码 null, // 动作参数 ActionTypeType.DockingCharge.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); break; case TO_STANDBY: // FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2); // Double standByDirection = Double.parseDouble(standByFuncSta.getAngle()); // if (!lastDirection.equals(standByDirection)) { // actionList.add(new Action( // null, // 编号 // null, // 总线 // task.getId(), // 任务 // null, // 动作号 // null, // 优先级 // ActionTypeType.TurnCorner.desc, // 名称 // null, // 属性값 // lastCode.getData(), // 地面码 // String.valueOf(standByDirection), // 动作参数 // ActionTypeType.TurnCorner.val(), // 动作类型 // actionPrepareSts, // 动作进度 // agvId, // AGV // now // 工作时间 // )); // lastDirection = standByDirection; // } String runToWaitHeightFlag = configService.getVal("RunToWaitHeightFlag", String.class); if (!Cools.isEmpty(runToWaitHeightFlag) && runToWaitHeightFlag.contains(agvId.toString())) { String runToWaitHeight = configService.getVal("RunToWaitHeight", String.class); if (Cools.isEmpty(runToWaitHeight)) { runToWaitHeight = "800"; } Double runToWaitHeightValue = configService.getVal("RunToWaitHeightValue", Double.class); if (runToWaitHeightValue == 0) { runToWaitHeightValue = 1D; } // 修复空指针异常：检查lastCode是否为null if (lastCode == null) { throw new BusinessException("AGV定位信息异常，无法生成待机动作"); } actionList.add(new Action( null, // 编号 task.getBusId(), // 总线 task.getId(), // 任务 null, // 动作号 null, // 优先级 ActionTypeType.RunToWaitHeight.desc, // 名称 runToWaitHeightValue, // 属性값 lastCode.getData(), // 地面码 runToWaitHeight, // 动作参数 ActionTypeType.RunToWaitHeight.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); } break; case MOVE: break; default: break; } } // finish actionList.add(new Action( null, // 编号 null, // 总线 null, // 任务 null, // 动作号 null, // 优先级 ActionTypeType.FinishPath.desc, // 名称 null, // 属性值 lastCode.getData(), // 地面码 null, // 动作参数 ActionTypeType.FinishPath.val(), // 动作类型 actionPrepareSts, // 动作进度 agvId, // AGV now // 工作时间 )); List 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.setGroupId(groupId); action.setPriority(i); i -= 1; } if (!actionService.saveBatch(newActionList)) { throw new BusinessException("group[" + groupId + "] 动作保存失败"); } // update segment for (Segment item : segmentList) { 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("更新Segment失败"); } } log.info("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size()); } catch (Exception e) { log.error("mainService.generateAction", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); if (!Cools.isEmpty(pathList)) { pathList.remove(0); List codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, pathList); mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList); } throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e); } } @Transactional public void publishAction(String actionGroupId) { try { Date now = new Date(); boolean flag = true; // action List actionList = actionService.list(new LambdaQueryWrapper() .eq(Action::getGroupId, actionGroupId).eq(Action::getActionSts, ActionStsType.PREPARE.val()) .orderByDesc(Action::getPriority)); 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(actionIssuedSts); action.setStartTime(now); action.setIoTime(now); action.setUpdateTime(now); } if (!actionService.updateBatchById(actionList)) { throw new BusinessException("failed to update action batch !!!"); } // task List 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(taskAssignSts)) { task.setTaskSts(taskProgressSts); task.setUpdateTime(now); if (!taskService.updateById(task)) { throw new BusinessException(task.getSeqNum() + "任务更新失败"); } } } 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) .setQrCode(action.getCode()) .setVal(Optional.ofNullable(action.getVal()).orElse(0D).intValue()) .bodySync(body -> body.setAngle((short) Double.parseDouble(action.getParams()))) ); break; case StraightBackUnturnable: break; case StraightBackTurnable: agvAction.add(new AgvActionItem<>(StraightBackTurnableAction.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams()))) ); break; case StraightAheadUnturnable: break; case StraightAheadTurnable: agvAction.add(new AgvActionItem<>(StraightAheadTurnableAction.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams()))) ); break; case ReadyTakeFromShelvesLoc: agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .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()))) ); if (!Cools.isEmpty(action.getAskType()) && (action.getAskType() == 1 || action.getAskType() == 2)) { flag = askSta(action.getAskType(), action.getAskSta()); } break; case ReadyTakeFromAgvSite: agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams()))) ); 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()))) ); if (!Cools.isEmpty(action.getAskType()) && (action.getAskType() == 1 || action.getAskType() == 2)) { flag = askSta(action.getAskType(), action.getAskSta()); } break; case ReadyReleaseToAgvSite: agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams()))) ); break; case RunToWaitHeight: agvAction.add(new AgvActionItem<>(RunToWaitHeight.class) .setVal(action.getVal().intValue()) .setQrCode(action.getCode()) .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams()))) ); break; case FinishPath: agvAction.add(new AgvActionItem<>(FinishPathAction.class) .setQrCode(action.getCode()) ); break; case DockingCharge: agvAction.add(new AgvActionItem<>(DockingChargeAction.class) .setQrCode(action.getCode()) ); break; default: break; } } if (!flag) { log.error("任务组 [{}] 动作指令下发失败 ,向输送线询问报错！！！", actionGroupId); throw new CoolException("任务组 [{" + actionGroupId + "}] 动作指令下发失败 ！！！"); } BaseResult result = agvCmdService.executeAgvActionCmd(agvAction); if (result.success()) { log.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size()); } else { log.error("任务组 [{}] 动作指令下发失败 ！！！", actionGroupId); throw new CoolException("任务组 [{" + actionGroupId + "}] 动作指令下发失败 ！！！"); } } catch (Exception e) { log.error("mainService.publishAction", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } @Transactional public void upDataSubscribe(AgvProtocol protocol) { Date now = new Date(); Agv agv = agvService.selectByUuid(protocol.getAgvNo()); if (null == agv) { log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo()); return; } IMessageBody msgBody = protocol.getMessageBody(); assert msgBody != null; // 动作完成包 if (msgBody instanceof AGV_11_UP) { AGV_11_UP agv_11_up = (AGV_11_UP) msgBody; String serialNo = agv_11_up.getSerialNo(); log.info("Agv [{}] 动作完成包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up)); // 入库放货 if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) { WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode(); // Loc loc = locService.getOne(new LambdaQueryWrapper().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode())))); // if (null == loc) { // log.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode()); // } else { // List taskIds = actionService.selectTaskIdsByGroupId(serialNo); // for (Long taskId : taskIds) { // Task task = taskService.getById(taskId); // if (task.getDestLoc().equals(loc.getId())) { // // Action action = actionService.getOne(new LambdaQueryWrapper() // .eq(Action::getTaskId, task.getId()) // .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val()) // .eq(Action::getActionSts, ActionStsType.ISSUED.val()) // ); // // if (null != action) { // action.setActionSts(ActionStsType.FINISH.val()); // action.setEndTime(now); // action.setUpdateTime(now); // if (!actionService.updateById(action)) { // log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName()); // } // } // //插入一条 // report(task, TaskReportStsType.END); // } // } // } // List taskIds = actionService.selectTaskIdsByGroupId(serialNo); // for (Long taskId : taskIds) { // Task task = taskService.getById(taskId); // report(task, agv_11_up.getQrCode(), TaskReportStsType.END); // } } // 出库取货 if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_SHELVES_COMPLETE)) { WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode(); // Loc loc = locService.getOne(new LambdaQueryWrapper().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode())))); // if (null == loc) { // log.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode()); // } else { // // List taskIds = actionService.selectTaskIdsByGroupId(serialNo); // for (Long taskId : taskIds) { // Task task = taskService.getById(taskId); // if (task.getOriLoc().equals(loc.getId())) { // // Action action = actionService.getOne(new LambdaQueryWrapper() // .eq(Action::getTaskId, task.getId()) // .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val()) // .eq(Action::getActionSts, ActionStsType.ISSUED.val()) // ); // if (null != action) { // action.setActionSts(ActionStsType.FINISH.val()); // action.setEndTime(now); // action.setUpdateTime(now); // if (!actionService.updateById(action)) { // log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName()); // } // } // report(task, TaskReportStsType.OTBIN); // } // } // } // List taskIds = actionService.selectTaskIdsByGroupId(serialNo); // for (Long taskId : taskIds) { // Task task = taskService.getById(taskId); // report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN); // } } //从输送线取货完成 // if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE)) { // WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode(); // List taskIds = actionService.selectTaskIdsByGroupId(serialNo); // for (Long taskId : taskIds) { // Task task = taskService.getById(taskId); // report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN); // } // } //往输送线放货完成 // if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE)) { // WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode(); // List taskIds = actionService.selectTaskIdsByGroupId(serialNo); // for (Long taskId : taskIds) { // Task task = taskService.getById(taskId); // report(task, agv_11_up.getQrCode(), TaskReportStsType.END); // } // } // 路径完成 || 充电完成 if (agv_11_up.getCompleteType().equals(AgvCompleteType.ENTIRE_PATH_COMPLETE) || agv_11_up.getCompleteType().equals(AgvCompleteType.DOCKING_CHARGE_COMPLETE)) { // segment list List segmentList = segmentService.list(new LambdaQueryWrapper() .eq(Segment::getGroupId, serialNo) // .eq(Segment::getState, SegmentStateType.RUNNING.toString()) .orderByAsc(Segment::getSerial) ); // settlement this.settleSegmentList(segmentList, serialNo); log.info("Agv [{}] {}作业完毕 ==========>> ", protocol.getAgvNo(), serialNo); } } // 料仓信息包 if (msgBody instanceof AGV_70_UP) { AGV_70_UP agv_70_up = (AGV_70_UP) msgBody; log.info("Agv [{}] 料仓信息包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up)); } } @Transactional public void settleSegmentList(List segmentList, String serialNo) { if (Cools.isEmpty(segmentList)) { return; } Date now = new Date(); // task for (Segment segment : segmentList) { boolean taskComplete = false; boolean otbin = false; 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)) { case ORI_STA: case ORI_LOC: otbin = true; break; case DEST_STA: case DEST_LOC: case TO_CHARGE: case TO_STANDBY: if (segment.getEndNode().equals(task.getDestCode())) { taskComplete = true; } break; case MOVE: if (segment.getEndNode().equals(task.getDestCode())) { if (typeType.equals(TaskTypeType.MOVE)) { taskComplete = true; } } break; default: break; } if (otbin) { locService.taskCallBackOtbin(task); report(task, null, TaskReportStsType.OTBIN); } if (taskComplete) { locService.taskCallBackEnd(task); task.setTaskSts(TaskStsType.COMPLETE.val()); task.setEndTime(now); task.setUpdateTime(now); if (!taskService.updateById(task)) { log.error("Task [{}] 更新失败 ！！！", task.getSeqNum()); } report(task, null, TaskReportStsType.END); if (task.getSeqNum() != null && task.getSeqNum().contains("SSX-CK")) { report(task, "1001", TaskReportStsType.COMPLETED); } } } // action, follow by groupId if (!Cools.isEmpty(serialNo)) { List actionList = actionService.list(new LambdaQueryWrapper() .eq(Action::getGroupId, serialNo) .eq(Action::getActionSts, ActionStsType.ISSUED.val()) ); for (Action action : actionList) { action.setActionSts(ActionStsType.FINISH.val()); action.setEndTime(now); action.setUpdateTime(now); if (!actionService.updateById(action)) { log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName()); } } } // segment for (Segment segment : segmentList) { segment.setState(SegmentStateType.FINISH.toString()); segment.setUpdateTime(now); if (!segmentService.updateById(segment)) { log.error("Segment [{}] 更新失败 ！！！", segment.getGroupId() + " - " + segment.getSerial()); } } // segment call back segmentService.processNext(segmentList); } /** * 上报给上游系统，就是插入一条数据到上报表 */ private void report(Task task, String qrCode, TaskReportStsType taskReportStsType) { // TODO 插入一条上报记录 if (task.getBusId() == null) { return; } List list = taskReportService.list(new LambdaQueryWrapper().eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$()).eq(TaskReport::getTaskSts, taskReportStsType.status)); if (!Cools.isEmpty(list)) { log.info("TaskReport [{},{}] 已重复，不再插入 ==========>> ", taskReportStsType, JSON.toJSONString(task)); return; } TaskReport taskReport = new TaskReport(); taskReport.setAgvId(task.getAgvId()); taskReport.setAgvNo(task.getAgvId$()); taskReport.setBusNo(task.getBusId$()); taskReport.setCreateTime(new Date()); taskReport.setCompleted(0); taskReport.setQrCode(qrCode); taskReport.setReportTimes(0); taskReport.setTaskSts(taskReportStsType.status); taskReport.setEventType(taskReportStsType.name); taskReport.setSeqNum(task.getSeqNum()); taskReport.setZpallet(task.getZpallet()); if (!taskReportService.save(taskReport)) { log.info("TaskReport [{}] 插入失败 ==========>> ", JSON.toJSONString(taskReport)); } else { log.info("Task [{}] 状态记录插入数据库 ==========>> ", task.getSeqNum()); } } private boolean askSta(Integer askType, String askSta) { log.info("来询问输送线了，{}，{}", askType, askSta); String wmsUrl = configService.getVal("WCS_URL", String.class); String wmsPath = configService.getVal("WMS_STA", String.class); if (Cools.isEmpty(wmsPath) || Cools.isEmpty(wmsUrl)) { return false; } Integer time = configService.getVal("TIMEOUT", Integer.class, 5); //Integer times = configService.getVal("REPORT_TIMES", Integer.class, 2); Map data = new HashMap<>(); data.put("askType", askType); data.put("askSta", askSta); String response = null; try { response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath(wmsPath) .setTimeout(time, TimeUnit.SECONDS) .setJson(JSON.toJSONString(data)) .build() .doPost(); log.info("返回参数：{}", response); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { return true; } } catch (IOException e) { log.info("报错了，{}", e); } return false; } }