14 changed files with 798 additions and 38 deletions
@ -0,0 +1,422 @@ |
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[ |
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{ |
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"id": "rack1", |
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"t": "rack", |
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"v": true, |
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"tf": [ |
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[ |
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1.55, |
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0, |
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-1.5 |
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], |
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[ |
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0, |
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0, |
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0 |
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], |
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[ |
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2.2, |
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2.8, |
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1 |
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] |
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], |
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"dt": { |
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"rackDepth": 1, |
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"bottomBarHeight": 0.2, |
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"bottomLinkHeight": 0.2, |
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"topLinkDistance": 0.2, |
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"levelCount": 2, |
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"bayCount": 2, |
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"hideFloor": 0, |
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"extendColumns": 1, |
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"columnSpacing": 1, |
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"bays": [ |
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{ |
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"bayWidth": 1.1, |
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"levelHeight": [ |
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1.4, |
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1.4 |
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] |
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}, |
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{ |
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"bayWidth": 1.1, |
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"levelHeight": [ |
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1.4, |
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1.4 |
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] |
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} |
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], |
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"center": [], |
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"in": [], |
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"out": [], |
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"rackWidth": 2.2, |
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"rackHeight": 2.8 |
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}, |
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"_rid": "_2" |
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}, |
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{ |
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"id": "rack2", |
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"t": "rack", |
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"v": true, |
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"tf": [ |
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[ |
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3.9, |
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0, |
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-1.5 |
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], |
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[ |
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0, |
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0, |
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0 |
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], |
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[ |
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2.2, |
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2.8, |
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1 |
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] |
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], |
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"dt": { |
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"rackDepth": 1, |
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"bottomBarHeight": 0.2, |
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"bottomLinkHeight": 0.2, |
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"topLinkDistance": 0.2, |
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"levelCount": 2, |
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"bayCount": 2, |
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"hideFloor": 0, |
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"extendColumns": 1, |
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"columnSpacing": 1, |
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"bays": [ |
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{ |
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"bayWidth": 1.1, |
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"levelHeight": [ |
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1.4, |
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1.4 |
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] |
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}, |
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{ |
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"bayWidth": 1.1, |
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"levelHeight": [ |
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1.4, |
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1.4 |
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] |
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} |
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], |
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"center": [], |
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"in": [], |
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"out": [], |
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"rackWidth": 2.2, |
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"rackHeight": 2.8 |
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}, |
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"_rid": "_3" |
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}, |
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{ |
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"id": "1_2", |
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"t": "way", |
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"v": true, |
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"logicX": 1, |
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"logicY": 2, |
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"tf": [ |
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[ |
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1, |
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0.01, |
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0 |
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], |
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[ |
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0, |
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0, |
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0 |
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], |
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[ |
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0.25, |
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0.1, |
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0.25 |
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] |
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], |
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"dt": { |
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"in": [ |
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"2_2" |
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], |
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"out": [ |
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"2_2" |
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], |
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"center": [], |
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"linkStore": [ |
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{ |
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"item": "rack1", |
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"bay": 0, |
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"level": 0, |
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"cell": 0, |
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"direction": "up" |
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}, |
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{ |
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"item": "rack1", |
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"bay": 0, |
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"level": 1, |
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"cell": 0, |
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"direction": "up" |
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} |
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] |
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}, |
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"_rid": "_4" |
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}, |
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{ |
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"id": "2_2", |
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"t": "way", |
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"v": true, |
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"logicX": 2, |
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"logicY": 2, |
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"tf": [ |
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[ |
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2.1, |
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0.01, |
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0 |
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], |
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[ |
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0, |
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0, |
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0 |
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], |
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[ |
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0.25, |
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0.1, |
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0.25 |
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] |
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], |
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"dt": { |
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"in": [ |
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"1_2", |
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"3_2" |
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], |
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"out": [ |
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"1_2", |
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"3_2" |
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], |
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"center": [], |
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"linkStore": [ |
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{ |
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"item": "rack1", |
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"bay": 1, |
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"level": 0, |
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"cell": 0, |
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"direction": "up" |
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}, |
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{ |
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"item": "rack1", |
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"bay": 1, |
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"level": 1, |
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"cell": 0, |
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"direction": "up" |
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} |
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] |
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}, |
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"_rid": "_5" |
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}, |
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{ |
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"id": "3_2", |
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"t": "way", |
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"v": true, |
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"logicX": 3, |
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"logicY": 2, |
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"tf": [ |
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[ |
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3.39, |
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0.01, |
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0 |
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], |
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[ |
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0, |
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0, |
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0 |
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], |
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[ |
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0.25, |
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0.1, |
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0.25 |
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] |
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], |
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"dt": { |
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"in": [ |
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"2_2", |
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"4_2" |
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], |
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"out": [ |
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"2_2", |
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"4_2" |
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], |
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"center": [], |
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"linkStore": [ |
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{ |
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"item": "rack2", |
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"bay": 0, |
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"level": 0, |
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"cell": 0, |
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"direction": "up" |
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}, |
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{ |
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"item": "rack2", |
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"bay": 0, |
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"level": 1, |
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"cell": 0, |
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"direction": "up" |
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} |
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] |
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}, |
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"_rid": "_6" |
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}, |
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{ |
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"id": "4_2", |
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"t": "way", |
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"v": true, |
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"logicX": 4, |
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"logicY": 2, |
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"tf": [ |
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[ |
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4.44, |
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0.01, |
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0 |
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], |
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[ |
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0, |
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0, |
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0 |
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], |
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[ |
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0.25, |
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0.1, |
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0.25 |
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] |
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], |
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"dt": { |
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"in": [ |
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"3_2", |
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"5_2" |
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], |
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"out": [ |
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"3_2", |
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"5_2" |
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], |
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"center": [], |
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"linkStore": [ |
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{ |
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"item": "rack2", |
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"bay": 1, |
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"level": 0, |
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"cell": 0, |
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"direction": "up" |
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}, |
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{ |
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"item": "rack2", |
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"bay": 1, |
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"level": 1, |
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"cell": 0, |
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"direction": "up" |
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} |
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] |
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}, |
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"_rid": "_7" |
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}, |
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{ |
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"id": "5_2", |
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"t": "way", |
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"v": true, |
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"logicX": 5, |
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"logicY": 2, |
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"tf": [ |
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[ |
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5.44, |
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0.01, |
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0 |
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], |
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[ |
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0, |
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0, |
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0 |
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], |
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[ |
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0.25, |
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0.1, |
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0.25 |
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] |
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], |
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"dt": { |
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"in": [ |
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"4_2", |
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"6_2" |
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], |
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"out": [ |
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"4_2", |
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"6_2" |
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], |
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"center": [] |
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}, |
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"_rid": "_8" |
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}, |
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{ |
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"id": "6_2", |
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"t": "way", |
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"v": true, |
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"logicX": 6, |
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"logicY": 2, |
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"tf": [ |
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[ |
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6.44, |
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0.01, |
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0 |
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], |
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[ |
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0, |
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0, |
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0 |
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], |
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[ |
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0.25, |
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0.1, |
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0.25 |
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] |
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], |
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"dt": { |
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"in": [ |
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"5_2" |
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], |
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"out": [ |
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"5_2" |
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], |
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"center": [], |
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"agvRotation": [ |
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"cl2", |
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"clx" |
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] |
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}, |
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"_rid": "_9" |
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}, |
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{ |
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"id": "3", |
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"t": "cl2", |
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"v": true, |
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"tf": [ |
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[ |
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6.440, |
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0, |
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0 |
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], |
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[ |
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0, |
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0, |
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0 |
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], |
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[ |
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1.5, |
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1.98, |
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1.5 |
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] |
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], |
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"dt": { |
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"in": [], |
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"out": [], |
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"center": [], |
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"ptrWidth": 1.5, |
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"ptrDepth": 1.5, |
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"ptrHeight": 1.98 |
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} |
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} |
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] |
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@ -0,0 +1,8 @@ |
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package com.galaxis.rcs.plan.task; |
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|
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public record MoveTask( |
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String agv, |
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String targetWayPointId, |
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int priority |
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) { |
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} |
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@ -0,0 +1,23 @@ |
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package com.yvan.workbench.controller; |
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|
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import com.galaxis.rcs.RCS; |
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import com.yvan.workbench.model.entity.Model; |
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import org.clever.core.Conv; |
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import org.clever.web.mvc.annotation.RequestBody; |
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|
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import java.util.Map; |
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|
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public class LccController { |
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|
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/** |
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* 支持前端 RCSScript.loadFloor 方法加载楼层数据 |
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*/ |
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Model<Boolean> loadFloor(@RequestBody Map<String, Object> params) { |
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String projectUUID = Conv.asString(params.get("projectUUID")); |
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String catalogCode = Conv.asString(params.get("catalogCode")); |
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Long envId = Conv.asLong(params.get("envId")); |
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boolean result = RCS.loadFloor(projectUUID, catalogCode, envId); |
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|
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return Model.newSuccess(result); |
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} |
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} |
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@ -0,0 +1,244 @@ |
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package com.yvan.workbench.controller; |
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|
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import com.galaxis.rcs.RCS; |
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import com.galaxis.rcs.common.entity.RcsTaskBiz; |
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import com.galaxis.rcs.common.entity.StoreLocation; |
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import com.galaxis.rcs.common.enums.BizTaskStatus; |
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import com.galaxis.rcs.common.enums.BizTaskType; |
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import com.galaxis.rcs.common.enums.LCCDirection; |
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import com.galaxis.rcs.plan.PlanTaskSequence; |
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import com.galaxis.rcs.plan.task.CarryTask; |
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import com.galaxis.rcs.plan.task.MoveTask; |
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import com.google.common.base.Strings; |
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import com.yvan.logisticsModel.*; |
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import com.yvan.workbench.model.entity.Model; |
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import org.apache.commons.lang3.NotImplementedException; |
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import org.clever.core.Conv; |
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import org.clever.core.id.SnowFlake; |
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import org.clever.web.mvc.annotation.RequestBody; |
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|
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import java.util.Map; |
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|
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public class RcsController { |
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// /**
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// * 后台机器人移动
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// * @param agvId 机器人ID
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// * @param targetWayPointId 目标路径点ID
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// * @param option 选项
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// */
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// agvMove(agvId: string, targetWayPointId: string, option: any = {}): Promise<ServerResponse<boolean>>
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//
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// /**
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// * 后台机器人搬运（库存点 -> 库存点）
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// * @param agvId 机器人ID
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// * @param fromStoreLoc 库存点ID
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// * @param targetStoreLoc 目标库存点ID
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// * @param option 其他选项
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// */
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// agvCarry(agvId: string, fromStoreLoc: string, targetStoreLoc: string, option: any = {}): Promise<ServerResponse<boolean>>
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//
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// /**
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// * 机器人充电
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// * @param agvId 机器人ID
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// * @param chargerId 充电桩ID
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// * @param option 其他选项
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// */
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// agvToCharger(agvId: string, chargerId: string, option: any = {}): Promise<ServerResponse<boolean>>
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|
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static final SnowFlake snowFlake = new SnowFlake(); |
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|
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public static Model<Object> agvMove(@RequestBody Map<String, Object> params) { |
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String projectUUID = Conv.asString(params.get("projectUUID")); |
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String catalogCode = Conv.asString(params.get("catalogCode")); |
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Long envId = Conv.asLong(params.get("envId")); |
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String agvId = Conv.asString(params.get("agvId")); |
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String targetWayPointId = Conv.asString(params.get("targetWayPointId")); |
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Map<String, Object> option = (Map<String, Object>) params.get("option"); |
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|
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if (Strings.isNullOrEmpty(agvId)) { |
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return Model.newFail("agvId Must not be empty"); |
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} |
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if (Strings.isNullOrEmpty(targetWayPointId)) { |
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return Model.newFail("targetWayPointId Must not be empty"); |
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} |
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|
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RCS.loadFloor(projectUUID, catalogCode, envId); |
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|
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LogisticsRuntime logisticsRuntime = LogisticsRuntimeService.INSTANCE.findByProjectFloor(projectUUID, catalogCode); |
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StaticItem toItem = logisticsRuntime.getStaticItemById(targetWayPointId); |
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if (toItem == null) { |
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return Model.newFail("target wayPoint not found!"); |
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} |
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|
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ExecutorItem executorItem = logisticsRuntime.executorItemMap.get(agvId); |
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if (executorItem == null) { |
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return Model.newFail("executor not found: " + agvId); |
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} |
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if (!(executorItem instanceof PtrAgvItem)) { |
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return Model.newFail("executor is not a PtrAgvItem id=" + agvId); |
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} |
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|
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// 获取机器人当前所在位置, 也可以前端强制指定
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// forceStartWayPointId: '6_2', forceStartDirectior: 'right'
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StaticItem fromItem = null; |
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LCCDirection fromDirection = null; |
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if (option.get("forceStartWayPointId") != null) { |
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fromItem = logisticsRuntime.getStaticItemById(Conv.asString(option.get("forceStartWayPointId"))); |
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} else { |
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fromItem = logisticsRuntime.getStaticItemByLogicXY(((PtrAgvItem) executorItem).logicX, ((PtrAgvItem) executorItem).logicY); |
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} |
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if (option.get("forceStartDirection") != null) { |
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fromDirection = LCCDirection.fromString(Conv.asString(option.get("forceStartDirection"))); |
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} else { |
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fromDirection = ((PtrAgvItem) executorItem).getLCCDirection(); |
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} |
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|
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if (fromItem == null) { |
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return Model.newFail("PtrAgvItem not found at current location: " + ((PtrAgvItem) executorItem).logicX + "_" + ((PtrAgvItem) executorItem).logicY + ", id=" + agvId); |
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} |
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if (fromDirection == null) { |
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return Model.newFail("PtrAgvItem unkown direction id=" + agvId); |
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} |
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|
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RcsTaskBiz bizTask = new RcsTaskBiz(); |
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bizTask.setBizTaskId(snowFlake.nextId()); |
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bizTask.setEnvId(envId); |
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bizTask.setBizType(BizTaskType.MOVE.toString()); |
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bizTask.setLpn("N/A"); |
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bizTask.setPriority(Conv.asInteger(option.get("priority"), 1)); |
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bizTask.setTaskFrom(fromItem.getId()); |
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bizTask.setTaskTo(targetWayPointId); |
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bizTask.setAllocatedExecutorId(agvId); |
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bizTask.setBizTaskPayload("N/A"); |
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bizTask.setBizTaskErrorInfo("N/A"); |
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bizTask.setBizTaskDescription("N/A"); |
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bizTask.setBizTaskStatus(BizTaskStatus.WAITING_FOR_DISPATCH.toString()); |
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|
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PlanTaskSequence planSequence = new PlanTaskSequence(agvId, logisticsRuntime, bizTask, "demo"); |
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|
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MoveTask moveTask = new MoveTask( |
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agvId, bizTask.getTaskTo(), bizTask.getPriority() |
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); |
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|
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logisticsRuntime.pathPlannerMap.get(executorItem.getT()) |
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.planMoveTask(planSequence, fromItem.getId(), fromDirection, moveTask); |
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return Model.newSuccess(planSequence.toPrettyMap()); |
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} |
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|
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public static Model<Object> agvInfo(@RequestBody Map<String, Object> params) { |
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String projectUUID = Conv.asString(params.get("projectUUID")); |
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String catalogCode = Conv.asString(params.get("catalogCode")); |
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Long envId = Conv.asLong(params.get("envId")); |
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String agvId = Conv.asString(params.get("agvId")); |
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|
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if (Strings.isNullOrEmpty(agvId)) { |
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return Model.newFail("agvId Must not be empty"); |
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} |
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|
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RCS.loadFloor(projectUUID, catalogCode, envId); |
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|
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LogisticsRuntime logisticsRuntime = LogisticsRuntimeService.INSTANCE.findByProjectFloor(projectUUID, catalogCode); |
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|
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ExecutorItem executorItem = logisticsRuntime.executorItemMap.get(agvId); |
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if (executorItem == null) { |
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return Model.newFail("executor not found: " + agvId); |
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} |
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if (!(executorItem instanceof PtrAgvItem)) { |
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return Model.newFail("executor is not a PtrAgvItem id=" + agvId); |
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} |
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|
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return Model.newSuccess(executorItem); |
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} |
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|
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public static Model<Object> agvCarry(@RequestBody Map<String, Object> params) { |
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String projectUUID = Conv.asString(params.get("projectUUID")); |
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String catalogCode = Conv.asString(params.get("catalogCode")); |
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Long envId = Conv.asLong(params.get("envId")); |
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String agvId = Conv.asString(params.get("agvId")); |
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String fromStoreLoc = Conv.asString(params.get("fromStoreLoc")); |
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String targetStoreLoc = Conv.asString(params.get("targetStoreLoc")); |
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Map<String, Object> option = (Map<String, Object>) params.get("option"); |
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|
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if (Strings.isNullOrEmpty(agvId)) { |
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return Model.newFail("agvId Must not be empty"); |
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} |
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if (Strings.isNullOrEmpty(fromStoreLoc)) { |
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return Model.newFail("fromStoreLoc Must not be empty"); |
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} |
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if (Strings.isNullOrEmpty(targetStoreLoc)) { |
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return Model.newFail("targetStoreLoc Must not be empty"); |
|||
} |
|||
|
|||
RCS.loadFloor(projectUUID, catalogCode, envId); |
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|
|||
LogisticsRuntime logisticsRuntime = LogisticsRuntimeService.INSTANCE.findByProjectFloor(projectUUID, catalogCode); |
|||
StaticItem sourceItem = logisticsRuntime.getStaticItemById(fromStoreLoc); |
|||
if (sourceItem == null) { |
|||
return Model.newFail("fromStoreLoc storePoint not found!"); |
|||
} |
|||
StaticItem targetItem = logisticsRuntime.getStaticItemById(targetStoreLoc); |
|||
if (targetItem == null) { |
|||
return Model.newFail("targetStoreLoc storePoint not found!"); |
|||
} |
|||
|
|||
ExecutorItem executorItem = logisticsRuntime.executorItemMap.get(agvId); |
|||
if (executorItem == null) { |
|||
return Model.newFail("executor not found: " + agvId); |
|||
} |
|||
if (!(executorItem instanceof PtrAgvItem)) { |
|||
return Model.newFail("executor is not a PtrAgvItem id=" + agvId); |
|||
} |
|||
|
|||
// 获取机器人当前所在位置, 也可以前端强制指定
|
|||
// forceStartWayPointId: '6_2', forceStartDirectior: 'right'
|
|||
StaticItem fromItem = null; |
|||
LCCDirection fromDirection = null; |
|||
if (option.get("forceStartWayPointId") != null) { |
|||
fromItem = logisticsRuntime.getStaticItemById(Conv.asString(option.get("forceStartWayPointId"))); |
|||
} else { |
|||
fromItem = logisticsRuntime.getStaticItemByLogicXY(((PtrAgvItem) executorItem).logicX, ((PtrAgvItem) executorItem).logicY); |
|||
} |
|||
if (option.get("forceStartDirection") != null) { |
|||
fromDirection = LCCDirection.fromString(Conv.asString(option.get("forceStartDirection"))); |
|||
} else { |
|||
fromDirection = ((PtrAgvItem) executorItem).getLCCDirection(); |
|||
} |
|||
|
|||
if (fromItem == null) { |
|||
return Model.newFail("PtrAgvItem not found at current location: " + ((PtrAgvItem) executorItem).logicX + "_" + ((PtrAgvItem) executorItem).logicY + ", id=" + agvId); |
|||
} |
|||
if (fromDirection == null) { |
|||
return Model.newFail("PtrAgvItem unkown direction id=" + agvId); |
|||
} |
|||
|
|||
RcsTaskBiz bizTask = new RcsTaskBiz(); |
|||
bizTask.setBizTaskId(snowFlake.nextId()); |
|||
bizTask.setEnvId(1L); |
|||
bizTask.setBizType(BizTaskType.MOVE.toString()); |
|||
bizTask.setLpn("N/A"); |
|||
bizTask.setPriority(Conv.asInteger(option.get("priority"), 1)); |
|||
bizTask.setTaskFrom(sourceItem.getId()); |
|||
bizTask.setTaskTo(targetItem.getId()); |
|||
bizTask.setAllocatedExecutorId(agvId); |
|||
bizTask.setBizTaskPayload("N/A"); |
|||
bizTask.setBizTaskErrorInfo("N/A"); |
|||
bizTask.setBizTaskDescription("N/A"); |
|||
bizTask.setBizTaskStatus(BizTaskStatus.WAITING_FOR_DISPATCH.toString()); |
|||
|
|||
PlanTaskSequence planSequence = new PlanTaskSequence(agvId, logisticsRuntime, bizTask, "demo"); |
|||
|
|||
CarryTask carryTask = new CarryTask( |
|||
agvId, "dummy", 1, |
|||
new StoreLocation("rack1", 0, 1, 0), |
|||
new StoreLocation("54", 0, 0, 0) |
|||
); |
|||
|
|||
logisticsRuntime.pathPlannerMap.get(executorItem.getT()) |
|||
.planCarryTask(planSequence, fromItem.getId(), fromDirection, carryTask); |
|||
return Model.newSuccess(planSequence.toPrettyMap()); |
|||
} |
|||
|
|||
public static Model<Boolean> agvToCharger(@RequestBody Map<String, Object> params) { |
|||
throw new NotImplementedException("agvToCharger not implemented yet"); |
|||
} |
|||
} |
|||
Loading…
Reference in new issue