Merge remote-tracking branch 'origin/master'

servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskBiz.java

@@ -1,44 +1,85 @@
 package com.galaxis.rcs.common.entity;
 
 import lombok.Data;
+import lombok.Getter;
+import lombok.Setter;
+
 import java.io.Serializable;
 import java.util.Date;
 
 /**
  * (rcs_task_biz)
  */
-@Data
+@Getter
+@Setter
 public class RcsTaskBiz implements Serializable {
-    /**  */
+    /**
+     *
+     */
     private Long bizTaskId;
-    /** 环境ID */
+    /**
+     * 环境ID
+     */
     private Long envId;
-    /** 任务类型 */
+    /**
+     * 任务类型
+     */
     private String bizType;
-    /** 托盘ID */
+    /**
+     * 托盘ID
+     */
     private String lpn;
-    /** 任务优先级 */
+    /**
+     * 任务优先级
+     */
     private Integer priority;
-    /** 任务起始点 */
+    /**
+     * 任务起始点
+     */
     private String taskFrom;
-    /** 任务目标点 */
+    /**
+     * 任务目标点
+     */
     private String taskTo;
-    /** 系统分配的执行器ID */
+    /**
+     * 系统分配的执行器ID
+     */
     private String allocatedExecutorId;
-    /** 任务负载信息 */
+    /**
+     * 任务负载信息
+     */
     private String bizTaskPayload;
-    /** 异常提示信息 */
+    /**
+     * 异常提示信息
+     */
     private String bizTaskErrorInfo;
-    /** 任务描述 */
+    /**
+     * 任务描述
+     */
     private String bizTaskDescription;
-    /** 任务状态 */
+    /**
+     * 任务状态
+     */
     private String bizTaskStatus;
-    /** 创建时间 */
+    /**
+     * 创建时间
+     */
     private Date createAt;
-    /** 创建人 */
+    /**
+     * 创建人
+     */
     private String createBy;
-    /** 更新时间 */
+    /**
+     * 更新时间
+     */
     private Date updateAt;
-    /** 更新人 */
+    /**
+     * 更新人
+     */
     private String updateBy;
+
+    @Override
+    public String toString() {
+        return "RcsTaskBiz(" + bizTaskId + ", executor='" + allocatedExecutorId + ", status='" + bizTaskStatus + ")";
+    }
 }

servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskPlan.java

@@ -1,6 +1,10 @@
 package com.galaxis.rcs.common.entity;
 
+import com.galaxis.rcs.common.enums.PlanTaskType;
 import lombok.Data;
+import lombok.Getter;
+import lombok.Setter;
+
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.Date;
@@ -8,46 +12,118 @@ import java.util.Date;
 /**
  * (rcs_task_plan)
  */
-@Data
+@Getter
+@Setter
 public class RcsTaskPlan implements Serializable {
-    /** 规划ID */
+    /**
+     * 规划ID
+     */
     private Long planTaskId;
-    /** 业务任务ID */
+    /**
+     * 业务任务ID
+     */
     private Long bizTaskId;
-    /** 环境ID */
+    /**
+     * 环境ID
+     */
     private Long envId;
-    /** 规划类型 */
+    /**
+     * 规划类型
+     */
     private String planType;
-    /** 执行器ID */
+    /**
+     * 执行器ID
+     */
     private String executorId;
-    /** 规划序号 */
+    /**
+     * 规划序号
+     */
     private Integer seq;
-    /** 目标点ID */
+    /**
+     * 目标点ID
+     */
     private String targetId;
-    /** 目标点货架列 */
+    /**
+     * 目标点货架列
+     */
     private Integer targetBay;
-    /** 目标点货架层 */
+    /**
+     * 目标点货架层
+     */
     private Integer targetLevel;
-    /** 目标点货架格 */
+    /**
+     * 目标点货架格
+     */
     private Integer targetCell;
-    /** 目标点旋转角度 */
+    /**
+     * 目标点旋转角度
+     */
     private BigDecimal targetRotation;
-    /** 背负托盘ID */
+    /**
+     * 背负托盘ID
+     */
     private String loadLpn;
-    /** 任务负载信息 */
+    /**
+     * 任务负载信息
+     */
     private String planTaskPayload;
-    /** 规划执行状态 */
+    /**
+     * 规划执行状态
+     */
     private String planTaskStatus;
-    /** 异常提示信息 */
+    /**
+     * 异常提示信息
+     */
     private String planTaskErrorInfo;
-    /** 任务描述 */
+    /**
+     * 任务描述
+     */
     private String planTaskDescription;
-    /** 创建时间 */
+    /**
+     * 创建时间
+     */
     private Date createAt;
-    /** 创建人 */
+    /**
+     * 创建人
+     */
     private String createBy;
-    /** 更新时间 */
+    /**
+     * 更新时间
+     */
     private Date updateAt;
-    /** 更新人 */
+    /**
+     * 更新人
+     */
     private String updateBy;
+
+    @Override
+    public String toString() {
+        var task = this;
+        String taskStr = "UNKNOWN:" + task.getPlanType();
+        switch (PlanTaskType.valueOf(task.getPlanType())) {
+            case MOVE:
+                taskStr = "MOVE " + task.getTargetId();
+                break;
+            case MOVE_BACKWARD:
+                taskStr = "MOVE_BACKWARD " + task.getTargetId();
+                break;
+            case CHARGE:
+                taskStr = "CHARGE " + task.getTargetId();
+                break;
+            case LOAD:
+                taskStr = "LOAD " + task.getTargetId() + "_" + task.getTargetBay() + "_" + task.getTargetLevel() + "_" + task.getTargetCell();
+                break;
+            case UNLOAD:
+                taskStr = "UNLOAD " + task.getTargetId() + "_" + task.getTargetBay() + "_" + task.getTargetLevel() + "_" + task.getTargetCell();
+                break;
+            case ROTATION:
+                taskStr = "Rotation " + task.getTargetRotation();
+                break;
+            case FINISH:
+                taskStr = "FINISH";
+                break;
+        }
+        taskStr = taskStr + " STATE:" + task.getPlanTaskStatus();
+        return taskStr;
+    }
 }

servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java

@@ -5,6 +5,7 @@ import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
 import com.galaxis.rcs.common.enums.PlanTaskStatus;
 import com.galaxis.rcs.common.enums.PlanTaskType;
+import com.google.common.base.Joiner;
 import com.google.common.base.Splitter;
 import com.google.common.collect.Lists;
 import com.yvan.logisticsModel.LogisticsRuntime;
@@ -159,6 +160,15 @@ public class PlanTaskSequence {
         return jw.getInnerMap();
     }
 
+    @Override
+    public String toString() {
+        List<String> list = Lists.newArrayList();
+        for (RcsTaskPlan task : taskList) {
+            list.add(task.toString());
+        }
+        return "PlanTaskSequence [biz=" + this.bizTask.toString() + "] taskList:" + Joiner.on("\n").join(list);
+    }
+
     /**
      * 是不是所有的任务都完成了
      */
@@ -184,21 +194,6 @@ public class PlanTaskSequence {
         return null;
     }
 
-    @SneakyThrows
-    public void savePlanTask(RcsTaskPlan planTask) {
-        //TODO: 保存数据库
-        var jw = new JsonWrapper(planTask);
-        jw.set("isAllCompleted", this.isAllCompleted());
-
-        var list = Splitter.on("\n").splitToList(jw.toString());
-        String[] ar = new String[list.size()];
-        list.toArray(ar);
-
-
-        // log.info("3-Received message: " + json);
-        BannerUtils.printConfig(log, "保存业务任务 planTask", ar);
-    }
-
     public boolean isEmpty() {
         return this.taskList.isEmpty();
     }

servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java

@@ -136,7 +136,7 @@ public class AmrMessageHandler {
             String[] ar = new String[list.size()];
             list.toArray(ar);
             // log.info("3-Received message: " + json);
-            BannerUtils.printConfig(log, "MQTT 收到报文 [" + id + "] ArmMessageType." + ArmMessageType.fromValue(id) + " - " + ArmMessageType.fromValue(id).description, ar);
+            // BannerUtils.printConfig(log, "MQTT 收到报文 [" + id + "] ArmMessageType." + ArmMessageType.fromValue(id) + " - " + ArmMessageType.fromValue(id).description, ar);
         }
 
         AmrMessage<?> amrMessage = null;
@@ -210,7 +210,7 @@ public class AmrMessageHandler {
             var list = Splitter.on("\n").splitToList(new JsonWrapper(payload).toString());
             String[] ar = new String[list.size()];
             list.toArray(ar);
-            BannerUtils.printConfig(log, "MQTT 发送报文 [" + id + "] RcsMessageType." + RcsMessageType.fromValue(id) + " - " + RcsMessageType.fromValue(id).description, ar);
+            // BannerUtils.printConfig(log, "MQTT 发送报文 [" + id + "] RcsMessageType." + RcsMessageType.fromValue(id) + " - " + RcsMessageType.fromValue(id).description, ar);
         }
         log.debug("发送消息: {}", payload);
         ptrMqttClient.publish(topic, payload);

servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java

@@ -12,16 +12,13 @@ import com.galaxis.rcs.ptr.receiveEntity.base.CurBatteryData;
 import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSRMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSetLocationMessage;
-import com.google.common.base.Joiner;
 import com.google.common.collect.Queues;
-import com.yvan.LccUtils;
-import com.yvan.event.AgvEventType;
 import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.StaticItem;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.clever.core.BannerUtils;
+import org.clever.core.Conv;
 import org.clever.data.redis.Redis;
 import org.clever.data.redis.RedisAdmin;
 
@@ -247,9 +244,10 @@ public abstract class PtrAgvItem extends ExecutorItem {
         for (PtrAgvDeviceTask task : runningDeviceTaskList) {
             task.taskGroupStatus = taskStatus;
             if (taskStatus == 4) {
-
-                this.runtime.eventManager.fireDeviceTaskCompleteEvent(this, task);
-                task.taskStatus = 4;
+                if (task.taskStatus != 4) {
+                    this.runtime.eventManager.fireDeviceTaskCompleteEvent(this, task);
+                    task.taskStatus = 4;
+                }
 
                 // 更新计划任务
                 List<RcsTaskPlan> planTaskList = planTaskSequence.taskList.stream().filter(pt -> task.movePlanTaskId.equals(pt.getPlanTaskId()) || task.planTaskIdSet.contains(pt.getPlanTaskId())).toList();
@@ -257,9 +255,9 @@ public abstract class PtrAgvItem extends ExecutorItem {
                     if (PlanTaskStatus.FINISHED.toString().equals(planTask.getPlanTaskStatus())) {
                         continue;
                     }
-                    this.runtime.eventManager.firePlanTaskCompleteEvent(this, planTaskSequence, planTask);
+
                     planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
-                    planTaskSequence.savePlanTask(planTask);
+                    this.runtime.eventManager.firePlanTaskCompleteEvent(this, planTaskSequence, planTask);
                 }
             }
         }
@@ -338,16 +336,16 @@ public abstract class PtrAgvItem extends ExecutorItem {
             }
         }
 
-        BannerUtils.printConfig(log, "updatePosition", new String[]{
-            "logicX: " + logicX,
-            "logicY: " + logicY,
-            "direction: " + direction,
-            "finishTargetIndex: " + finishTargetIndex,
-            "runningDeviceSize:" + (this.runningDeviceTaskList == null ? "null" : this.runningDeviceTaskList.size()),
-            "planTask:" + (this.planTaskSequence == null ? "null" :
-                ("\n" + Joiner.on("\n").join((List) this.planTaskSequence.toPrettyMap().get("items")))
-            )
-        });
+        // BannerUtils.printConfig(log, "updatePosition", new String[]{
+        //     "logicX: " + logicX,
+        //     "logicY: " + logicY,
+        //     "direction: " + direction,
+        //     "finishTargetIndex: " + finishTargetIndex,
+        //     "runningDeviceSize:" + (this.runningDeviceTaskList == null ? "null" : this.runningDeviceTaskList.size()),
+        //     "planTask:" + (this.planTaskSequence == null ? "null" :
+        //         ("\n" + Joiner.on("\n").join((List) this.planTaskSequence.toPrettyMap().get("items")))
+        //     )
+        // });
 
         if (needCompute && this.runningDeviceTaskList.size() > 0) {
             int index = this.runningDeviceTaskList.size() - 1;
@@ -397,7 +395,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
         statusMap.put("direction", String.valueOf(direction));
         statusMap.put("orientation", String.valueOf(orientation));
         statusMap.put("soc", this.battery == null ? "-1" : String.valueOf(this.battery.SOC));
-        statusMap.put("mode", this.__taskMode.toString());
+        statusMap.put("mode", Conv.asString(this.__taskMode));
         statusMap.put("taskStatus", getTaskStatus());
 
         redis.hPutAll(statusKey, statusMap);

servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java

@@ -11,6 +11,7 @@ import com.google.common.collect.Lists;
 import com.google.common.collect.Maps;
 import com.google.common.collect.Sets;
 import com.yvan.event.AgvEventManager;
+import com.yvan.event.AgvEventType;
 import com.yvan.mqtt.FrontendMessagePushService;
 import com.yvan.redis.LccRedisService;
 import com.yvan.workbench.model.entity.LccProject;
@@ -121,6 +122,21 @@ public class LogisticsRuntime {
         this.envId = env.getEnvId();
         this.isVirtual = env.getIsVirtual();
         this.serverId = serverId;
+
+        this.setupEventHandle();
+    }
+
+    private void setupEventHandle() {
+        eventManager.subscribe((AgvEventType type, Object... args) -> {
+            ExecutorItem sender = (ExecutorItem) args[0];
+
+            String[] eventArgs = new String[args.length - 1];
+            for (int i = 1; i < args.length; i++) {
+                eventArgs[i - 1] = Conv.asString(args[i]);
+            }
+
+            BannerUtils.printConfig(log, this.projectUuid + "(" + this.envId + ") " + type + " AGV:" + sender.getId(), eventArgs);
+        });
     }
 
     /**