package com.zy.acs.manager.core.service; import com.alibaba.fastjson.JSON; 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.exception.BusinessException; 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.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.util.*; /** * Created by vincent on 2023/6/14 */ @Slf4j @Service("baseMainService") public class BaseMainService implements IBaseMainService { @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; /** * 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(); 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, // 属性值 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 )); // 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_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, // 属性值 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 )); // 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, // 属性值 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 )); 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, // 属性值 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, // 属性值 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, // 属性值 // 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; // } 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(); // 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()))) ); 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()))) ); 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 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; } } 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()); } } } } } } // 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()); } } } } } } // 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; 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: 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 (taskComplete) { locService.taskCallBack(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()); } else { log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum()); } } } // 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); } }