From 81afb79b210b5dabbf5c7b6fefd65554cbf44320 Mon Sep 17 00:00:00 2001 From: luoyifan Date: Sun, 22 Jun 2025 00:08:22 +0800 Subject: [PATCH] =?UTF-8?q?=E9=A1=B9=E7=9B=AE=E6=89=A7=E8=A1=8C=E6=A1=86?= =?UTF-8?q?=E6=9E=B6=E7=9A=84=E6=90=AD=E5=BB=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- servo/src/main/java/com/galaxis/rcs/RCS.java | 53 ++++++++++ .../galaxis/rcs/common/entity/AddTaskRequest.java | 54 ++++++++++ .../galaxis/rcs/common/entity/AddTaskResult.java | 19 ++++ .../com/galaxis/rcs/common/entity/RcsTaskBiz.java | 109 +++++++++++++++++++++ .../com/galaxis/rcs/common/entity/RcsTaskPlan.java | 24 +++++ .../galaxis/rcs/common/entity/StoreLocation.java | 29 ++++++ .../com/galaxis/rcs/common/enums/BizTaskType.java | 5 + .../com/galaxis/rcs/common/enums/EnvStatus.java | 21 ++++ .../java/com/galaxis/rcs/plan/PlanManager.java | 4 - .../main/java/com/galaxis/rcs/plan/Planner.java | 19 ++++ .../com/galaxis/rcs/plan/TaskPlannerFactory.java | 20 ++++ .../galaxis/rcs/plan/planner/PTRTaskPlanner.java | 66 +++++++++++++ .../java/com/galaxis/rcs/task/TaskDispatch.java | 4 - .../com/galaxis/rcs/task/TaskDispatchFactory.java | 36 +++++++ .../java/com/galaxis/rcs/task/TaskManager.java | 4 - .../java/com/galaxis/rcs/task/TaskService.java | 68 +++++++++++++ .../rcs/task/dispatcher/TaiWanDispatcher.java | 27 +++++ .../java/com/yvan/logisticsEnv/EnvStartParam.java | 23 +++++ .../java/com/yvan/logisticsEnv/LogisticsEnv.java | 42 ++++++++ .../com/yvan/logisticsEnv/LogisticsEnvManager.java | 26 +++++ .../java/com/yvan/logisticsModel/BaseItem.java | 25 +++++ .../java/com/yvan/logisticsModel/ExecutorItem.java | 27 +++++ .../main/java/com/yvan/logisticsModel/Floor.java | 17 ++++ .../java/com/yvan/logisticsModel/FlowItem.java | 7 ++ .../com/yvan/logisticsModel/LogisticsModel.java | 13 +++ .../com/yvan/logisticsModel/LogisticsRuntime.java | 48 +++++++++ .../logisticsModel/LogisticsRuntimeService.java | 24 +++++ .../java/com/yvan/logisticsModel/StaticItem.java | 10 ++ .../com/yvan/logisticsMonitor/task/BizTask.java | 37 ++++++- 29 files changed, 848 insertions(+), 13 deletions(-) create mode 100644 servo/src/main/java/com/galaxis/rcs/RCS.java create mode 100644 servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskRequest.java create mode 100644 servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskResult.java create mode 100644 servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskBiz.java create mode 100644 servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskPlan.java create mode 100644 servo/src/main/java/com/galaxis/rcs/common/entity/StoreLocation.java create mode 100644 servo/src/main/java/com/galaxis/rcs/common/enums/BizTaskType.java create mode 100644 servo/src/main/java/com/galaxis/rcs/common/enums/EnvStatus.java delete mode 100644 servo/src/main/java/com/galaxis/rcs/plan/PlanManager.java create mode 100644 servo/src/main/java/com/galaxis/rcs/plan/Planner.java create mode 100644 servo/src/main/java/com/galaxis/rcs/plan/TaskPlannerFactory.java create mode 100644 servo/src/main/java/com/galaxis/rcs/plan/planner/PTRTaskPlanner.java delete mode 100644 servo/src/main/java/com/galaxis/rcs/task/TaskDispatch.java create mode 100644 servo/src/main/java/com/galaxis/rcs/task/TaskDispatchFactory.java delete mode 100644 servo/src/main/java/com/galaxis/rcs/task/TaskManager.java create mode 100644 servo/src/main/java/com/galaxis/rcs/task/TaskService.java create mode 100644 servo/src/main/java/com/galaxis/rcs/task/dispatcher/TaiWanDispatcher.java create mode 100644 servo/src/main/java/com/yvan/logisticsEnv/EnvStartParam.java create mode 100644 servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnv.java create mode 100644 servo/src/main/java/com/yvan/logisticsModel/BaseItem.java create mode 100644 servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java create mode 100644 servo/src/main/java/com/yvan/logisticsModel/Floor.java create mode 100644 servo/src/main/java/com/yvan/logisticsModel/FlowItem.java create mode 100644 servo/src/main/java/com/yvan/logisticsModel/LogisticsModel.java create mode 100644 servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java create mode 100644 servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntimeService.java create mode 100644 servo/src/main/java/com/yvan/logisticsModel/StaticItem.java diff --git a/servo/src/main/java/com/galaxis/rcs/RCS.java b/servo/src/main/java/com/galaxis/rcs/RCS.java new file mode 100644 index 0000000..2851b76 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/RCS.java @@ -0,0 +1,53 @@ +package com.galaxis.rcs; + +import com.galaxis.rcs.common.entity.AddTaskRequest; +import com.galaxis.rcs.common.entity.AddTaskResult; +import com.galaxis.rcs.task.TaskService; +import com.yvan.logisticsModel.LogisticsRuntime; +import com.yvan.logisticsModel.LogisticsRuntimeService; + +/** + * RCS 对外API调用类 + */ +public class RCS { + + static final LogisticsRuntimeService logisticsRuntimeService = new LogisticsRuntimeService(); + + /** + * 添加任务, 示例 + * 
+     * {
+     *   type: 'carry',          // 任务类型
+     *   agv: 'cl2',             // 指定车辆
+     *   lpn: 'pallet1124',      // 托盘ID, 用于校验
+     *   from: '27',             // 起始点位
+     *   priority: 1,            // 优先级
+     *   from: {
+     *     item: '27', bay: 0, level: 1, cell: 0 // 起始点位的详细信息
+     *   },
+     *   to:{
+     *     item: '20'
+     *   }
+     * }
+     *
+ */ + public static AddTaskResult addTask(String envCode, AddTaskRequest request) { + AddTaskResult result = new AddTaskResult(); + + LogisticsRuntime logisticsRuntime = logisticsRuntimeService.findByEnvCode(envCode); + + String bizTaskId = logisticsRuntime.taskService.addBizTask(request); + + logisticsRuntime.taskDispatchFactory.checkAll(); + + result.bizTaskId = bizTaskId; + + return result; + } + + /** + * 地图信息2 + * 1<->2, 2<->3, 3<->4, 4<->5, 5<->6, 6<->7, 7<->8, 8<->9,9<->10 + * 1 <-> 38, 1 <-> 36 + */ +} diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskRequest.java b/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskRequest.java new file mode 100644 index 0000000..ef71c92 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskRequest.java @@ -0,0 +1,54 @@ +package com.galaxis.rcs.common.entity; + +import com.galaxis.rcs.common.enums.BizTaskType; +import lombok.Data; + +/** + * 
+ * {
+ *   type: 'carry',          // 任务类型
+ *   taskExecutorId: 'cl2',             // 指定车辆
+ *   lpn: 'pallet1124',      // 托盘ID, 用于校验
+ *   priority: 1,            // 优先级
+ *   from: {
+ *     item: '27', bay: 0, level: 1, cell: 0 // 起始点位的详细信息
+ *   },
+ *   to: {
+ *     item: '20'
+ *   }
+ * }
+ *
+ */ +@Data +public class AddTaskRequest { + /** + * 任务类型 + * 可选值: 'carry', 'putaway', 'pick', 'move' + */ + public BizTaskType type; + + /** + * 指定任务的执行器ID + */ + public String taskExecutorId; + + /** + * 托盘ID, 用于校验 + */ + public String lpn; + + /** + * 任务优先级，越大优先级越高 + */ + public int priority; + + /** + * 起始位置 + */ + public StoreLocation from; + + /** + * 目标位置 + */ + public StoreLocation to; +} diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskResult.java b/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskResult.java new file mode 100644 index 0000000..43634c4 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/common/entity/AddTaskResult.java @@ -0,0 +1,19 @@ +package com.galaxis.rcs.common.entity; + +import lombok.Data; + +/** + * 添加任务结果 + * 
+ * {
+ *   taskId: 'task123'
+ * }
+ *
+ */ +@Data +public class AddTaskResult { + /** + * 业务任务ID + */ + public String bizTaskId; +} diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskBiz.java b/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskBiz.java new file mode 100644 index 0000000..80ddd06 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskBiz.java @@ -0,0 +1,109 @@ +package com.galaxis.rcs.common.entity; + +import com.yvan.logisticsMonitor.task.BizTask; +import lombok.Data; + +/** + * RcsTaskBiz 类用于定义业务任务的实体 + */ + +/** + * TODO: 插入 rcs_task_biz 表, 结构为 + * biz_task_id bigint not null, + * force_assign_executor_id varchar(50) not null, + * force_assign_executor_type varchar(50) not null, + * task_type varchar(10) + * lpn varchar(50) + * priority integer + * task_from varchar(100) + * task_to varchar(100) + * allocated_executor_id varchar(50) default 'N/A' + * biz_task_status varchar(10) default 'pending' + * create_at timestamp + * create_by varchar(50) + * update_at timestamp + * update_by varchar(50) + *

+ * create table rcs_task_biz ( + * biz_task_id bigint not null auto_increment, + * force_assign_executor_id varchar(50) not null comment '用户强制指派了车号' default 'N/A', + * force_assign_executor_type varchar(50) not null comment '用户强制指派了车型' default 'N/A', + * task_type varchar(10) not null comment '任务类型' default 'carry', + * lpn varchar(50) not null comment '托盘ID', + * priority integer not null comment '任务优先级', + * task_from varchar(50) not null comment '任务起始点', + * task_to varchar(50) not null comment '任务目标点', + * allocated_executor_id varchar(50) default 'N/A' comment '系统分配的执行器ID', + * biz_task_status varchar(10) default 'pending' comment '任务状态', + * create_at datetime not null comment '创建时间', + * create_by varchar(50) not null comment '创建人', + * update_at datetime not null comment '更新时间', + * update_by varchar(50) not null comment '更新人', + *

+ * primary key (biz_task_id) + * } + */ +@Data +public class RcsTaskBiz implements BizTask { + /** + * 业务任务ID + */ + public long bizTaskId; + + /** + * 强制分配的执行器ID + */ + public String forceAssignExecutorId = "N/A"; // 默认值为 'N/A' + /** + * 强制分配的执行器类型 + */ + public String forceAssignExecutorType = "N/A"; // 默认值为 'N/A' + /** + * 任务类型 + */ + public String taskType; + /** + * 托盘ID + */ + public String lpn; + /** + * 任务优先级 + */ + public int priority; + /** + * 任务起始点 + */ + public String taskFrom; + /** + * 任务目标点 + */ + public String taskTo; + /** + * 分配的执行器ID + */ + public String allocatedExecutorId = "N/A"; // 默认值为 'N/A' + /** + * 业务任务状态 + */ + public String bizTaskStatus = "pending"; // 默认状态为 'pending' + /** + * 创建时间 + */ + public String createAt; + /** + * 创建人 + */ + public String createBy; + /** + * 更新时间 + */ + public String updateAt; + /** + * 更新人 + */ + public String updateBy; + /** + * 业务任务描述 + */ + public String description; // 可选字段，用于描述任务的详细信息 +} diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskPlan.java b/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskPlan.java new file mode 100644 index 0000000..a26f506 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskPlan.java @@ -0,0 +1,24 @@ +package com.galaxis.rcs.common.entity; + +/** + * 任务规划 + */ +public class RcsTaskPlan { + /** + * 表名: rcs_task_plan + * 表结构为 + * plan_task_id bigint not null auto_increment primary key, + * biz_task_id bigint not null, + * type varchar(50) not null, + * executor_id varchar(50) not null, + * seq integer not null, + * payload varchar(3000) not null, + * plan_task_status varchar(10) default 'waiting', + * error_message varchar(500) default '', + * description varchar(500) default '', + * create_at timestamp + * create_by varchar(50) + * update_at timestamp + * update_by varchar(50) + */ +} diff --git a/servo/src/main/java/com/galaxis/rcs/common/entity/StoreLocation.java b/servo/src/main/java/com/galaxis/rcs/common/entity/StoreLocation.java new file mode 100644 index 0000000..2c5ad2e --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/common/entity/StoreLocation.java @@ -0,0 +1,29 @@ +package com.galaxis.rcs.common.entity; + +/** + * 存储存储位信息 + * 

+ *  {
+ *      item: '27',  // 货架ID
+ *      bay: 0,      // 列
+ *      level: 1,    // 层
+ *      cell: 0      // 格
+ *  }
+ *
+ */ +public record StoreLocation( + String item, // 货架ID + int bay, // 列 + int level, // 层 + int cell // 格 +) { + @Override + public String toString() { + return "StoreLocation{" + + "item='" + item + '\'' + + ", bay=" + bay + + ", level=" + level + + ", cell=" + cell + + '}'; + } +} diff --git a/servo/src/main/java/com/galaxis/rcs/common/enums/BizTaskType.java b/servo/src/main/java/com/galaxis/rcs/common/enums/BizTaskType.java new file mode 100644 index 0000000..c03f390 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/common/enums/BizTaskType.java @@ -0,0 +1,5 @@ +package com.galaxis.rcs.common.enums; + +public enum BizTaskType { + CARRY, // 搬运任务 +} diff --git a/servo/src/main/java/com/galaxis/rcs/common/enums/EnvStatus.java b/servo/src/main/java/com/galaxis/rcs/common/enums/EnvStatus.java new file mode 100644 index 0000000..7ae1db4 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/common/enums/EnvStatus.java @@ -0,0 +1,21 @@ +package com.galaxis.rcs.common.enums; + +/** + * 环境状态 + */ +public enum EnvStatus { + /** + * 环境已启动 + */ + RUNNING, + + /** + * 环境已停止 + */ + STOPPED, + + /** + * 环境已删除 + */ + DELETED, +} diff --git a/servo/src/main/java/com/galaxis/rcs/plan/PlanManager.java b/servo/src/main/java/com/galaxis/rcs/plan/PlanManager.java deleted file mode 100644 index dace2ea..0000000 --- a/servo/src/main/java/com/galaxis/rcs/plan/PlanManager.java +++ /dev/null @@ -1,4 +0,0 @@ -package com.galaxis.rcs.plan; - -public class PlanManager { -} diff --git a/servo/src/main/java/com/galaxis/rcs/plan/Planner.java b/servo/src/main/java/com/galaxis/rcs/plan/Planner.java new file mode 100644 index 0000000..73683d3 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/plan/Planner.java @@ -0,0 +1,19 @@ +package com.galaxis.rcs.plan; + +import com.galaxis.rcs.common.entity.RcsTaskBiz; +import com.yvan.logisticsModel.LogisticsRuntime; + +/** + * 任务执行器的计划接口 + * 用于定义如何执行任务计划 + */ +public interface Planner { + /** + * 执行任务计划 + * + * @param runtime 物流运行时环境 + * @param tasks 任务对象，包含任务的详细信息 + * @param executorId 执行器ID + */ + void executePlan(LogisticsRuntime runtime, RcsTaskBiz tasks, String executorId); +} diff --git a/servo/src/main/java/com/galaxis/rcs/plan/TaskPlannerFactory.java b/servo/src/main/java/com/galaxis/rcs/plan/TaskPlannerFactory.java new file mode 100644 index 0000000..a83c9c7 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/plan/TaskPlannerFactory.java @@ -0,0 +1,20 @@ +package com.galaxis.rcs.plan; + +import com.galaxis.rcs.plan.planner.PTRTaskPlanner; + +import java.util.Map; + +/** + * 根据任务执行器类型（车型），找到对应车型的任务分配器 + */ +public class TaskPlannerFactory { + + private static final Map planners = Map.of( + "cl2", new PTRTaskPlanner(), + "clx", new PTRTaskPlanner() + ); + + public static Planner getPlanner(String executorType) { + return planners.get(executorType); + } +} diff --git a/servo/src/main/java/com/galaxis/rcs/plan/planner/PTRTaskPlanner.java b/servo/src/main/java/com/galaxis/rcs/plan/planner/PTRTaskPlanner.java new file mode 100644 index 0000000..96c7826 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/plan/planner/PTRTaskPlanner.java @@ -0,0 +1,66 @@ +package com.galaxis.rcs.plan.planner; + +import com.galaxis.rcs.common.entity.RcsTaskBiz; +import com.galaxis.rcs.common.entity.RcsTaskPlan; +import com.galaxis.rcs.plan.Planner; +import com.yvan.logisticsModel.LogisticsRuntime; + +/** + * PTR 任务规划器。 + * 用于处理 CL2 / CLX 等车型的任务规划 + */ +public class PTRTaskPlanner implements Planner { + /** + * 执行任务规划 + * + * @param runtime 物流运行时环境 + * @param task 任务对象，包含任务的详细信息 + * @param executorId 执行器ID + */ + @Override + public void executePlan(LogisticsRuntime runtime, RcsTaskBiz task, String executorId) { + /** + * 示例数据 + * { + * type: 'carry', // 任务类型 + * agv: 'cl2', // 指定车辆 + * lpn: 'pallet1124', // 托盘ID, 用于校验 + * priority: 1, // 优先级 + * // 起始点位的详细信息 + * from: { + * item: '27', // 货架编号 + * bay: 0, // 货架列 + * level: 1, // 货架层 + * cell: 0 // 货架格 + * }, + * // 目标点位的详细信息 + * to: { + * item: '20' // 地堆货位号 + * } + * } + */ + + /** + * 地图路由示例1 + * 17<->20, 20<->21, 21<->22, 22<->23, 23<->24, 24<->25, 25<->26, 26<->27, 27<->charger2, + * + * 地图货位信息 + * 21 左侧 rack1 / 3 + * 22 右侧 56 + * 23 左侧 rack1 / 2 + * 24 旋转位 + * 25 左侧 rack1 / 1 + * 26 右侧 58 + * 27 左侧 rack1 / 0 + */ + + // 绑定任务执行器 + task.setAllocatedExecutorId(executorId); + + // TODO: 写入 rcs_task_biz 表, 写入 rcs_task_plan 表, 并安排规划方案的顺序执行, 并将全部规划通知给 MQTT + RcsTaskPlan[] planList = new RcsTaskPlan[0]; + + runtime.executorItemMap.get(executorId).executeTaskPlanList(runtime, task, planList); + } + +} diff --git a/servo/src/main/java/com/galaxis/rcs/task/TaskDispatch.java b/servo/src/main/java/com/galaxis/rcs/task/TaskDispatch.java deleted file mode 100644 index f7ad848..0000000 --- a/servo/src/main/java/com/galaxis/rcs/task/TaskDispatch.java +++ /dev/null @@ -1,4 +0,0 @@ -package com.galaxis.rcs.task; - -public class TaskDispatch { -} diff --git a/servo/src/main/java/com/galaxis/rcs/task/TaskDispatchFactory.java b/servo/src/main/java/com/galaxis/rcs/task/TaskDispatchFactory.java new file mode 100644 index 0000000..261e40d --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/task/TaskDispatchFactory.java @@ -0,0 +1,36 @@ +package com.galaxis.rcs.task; + +import com.galaxis.rcs.common.entity.RcsTaskBiz; +import com.galaxis.rcs.task.dispatcher.TaiWanDispatcher; +import com.yvan.logisticsModel.LogisticsRuntime; + +public class TaskDispatchFactory { + public final LogisticsRuntime logisticsRuntime; + private TaiWanDispatcher dispatcher = new TaiWanDispatcher(); + + public TaskDispatchFactory(LogisticsRuntime logisticsRuntime) { + this.logisticsRuntime = logisticsRuntime; + } + + /** + * 开启轮询线程，定时检查有没有空执行器，可以用于执行选定任务 + */ + public void startPolling() { + // TODO: 启动一个线程，定时检查是否有空闲的执行器 + RcsTaskBiz taskBiz = new RcsTaskBiz(); + dispatcher.dispatchTask(this, taskBiz); + } + + /** + * 停止轮询线程 + */ + public void stopPolling() { + // TODO: 停止轮询线程 + } + + /** + * 向巡视线程发送一个信号，让他启动检查 + */ + public void checkAll() { + } +} diff --git a/servo/src/main/java/com/galaxis/rcs/task/TaskManager.java b/servo/src/main/java/com/galaxis/rcs/task/TaskManager.java deleted file mode 100644 index 7589f6c..0000000 --- a/servo/src/main/java/com/galaxis/rcs/task/TaskManager.java +++ /dev/null @@ -1,4 +0,0 @@ -package com.galaxis.rcs.task; - -public class TaskManager { -} diff --git a/servo/src/main/java/com/galaxis/rcs/task/TaskService.java b/servo/src/main/java/com/galaxis/rcs/task/TaskService.java new file mode 100644 index 0000000..04ef39b --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/task/TaskService.java @@ -0,0 +1,68 @@ +package com.galaxis.rcs.task; + +import com.galaxis.rcs.common.entity.AddTaskRequest; +import com.google.common.base.Strings; +import com.yvan.logisticsModel.LogisticsRuntime; +import org.clever.data.jdbc.DaoFactory; + +/** + * 任务服务 + * 用于处理业务任务的添加 / 取消 / 修改优先级 / 还入 / 暂停 等操作 + */ +public class TaskService { + + public final LogisticsRuntime logisticsRuntime; + + public TaskService(LogisticsRuntime logisticsRuntime) { + this.logisticsRuntime = logisticsRuntime; + } + + /** + * 添加业务任务 + * + * @param request 任务请求 + * @return 业务任务ID + */ + public String addBizTask(AddTaskRequest request) { + if (Strings.isNullOrEmpty(request.taskExecutorId)) { + throw new RuntimeException("TaskExecutorId cannot be null or empty"); + } + + Long taskId = DaoFactory.getJdbc().nextId("rcs_task_biz"); + + /** + * TODO: 插入 rcs_task_biz 表, 结构为 + * biz_task_id bigint not null, + * task_executor_id varchar(50) not null, + * task_type varchar(10) + * lpn varchar(50) + * priority integer + * task_from varchar(100) + * task_to varchar(100) + * biz_task_status varchar(10) default 'pending' + * create_at timestamp + * create_by varchar(50) + * update_at timestamp + * update_by varchar(50) + * + * create table rcs_task_biz ( + * biz_task_id bigint not null auto_increment, + * task_executor_id varchar(50) not null comment '任务执行器ID' default 'N/A', + * task_type varchar(10) not null comment '任务类型' default 'carry', + * lpn varchar(50) not null comment '托盘ID', + * priority integer not null comment '任务优先级', + * task_from varchar(50) not null comment '任务起始点', + * task_to varchar(50) not null comment '任务目标点', + * biz_task_status varchar(10) default 'pending' comment '任务状态', + * create_at datetime not null comment '创建时间', + * create_by varchar(50) not null comment '创建人', + * update_at datetime not null comment '更新时间', + * update_by varchar(50) not null comment '更新人', + * + * primary key (biz_task_id) + * } + */ + + return taskId.toString(); + } +} diff --git a/servo/src/main/java/com/galaxis/rcs/task/dispatcher/TaiWanDispatcher.java b/servo/src/main/java/com/galaxis/rcs/task/dispatcher/TaiWanDispatcher.java new file mode 100644 index 0000000..eb0535c --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/task/dispatcher/TaiWanDispatcher.java @@ -0,0 +1,27 @@ +package com.galaxis.rcs.task.dispatcher; + +import com.galaxis.rcs.common.entity.RcsTaskBiz; +import com.galaxis.rcs.plan.Planner; +import com.galaxis.rcs.plan.TaskPlannerFactory; +import com.galaxis.rcs.task.TaskDispatchFactory; + +public class TaiWanDispatcher { + + public void dispatchTask(TaskDispatchFactory factory, RcsTaskBiz tasks) { + // TODO: 台湾展会的任务分配逻辑 + } + + /** + * TODO: 分配任务给指定的执行器 + * + * @param tasks 任务对象，包含任务的详细信息 + * @param executorId 执行器ID + */ + public void allocateExecutorBizTask(TaskDispatchFactory factory, RcsTaskBiz tasks, String executorId) { + // 选定了一个执行器，分配任务给它 + String executorType = executorId.substring(0, 3); // 假设执行器ID的前3位是车型标识 + + Planner planner = TaskPlannerFactory.getPlanner(executorType); + planner.executePlan(factory.logisticsRuntime, tasks, executorId); + } +} diff --git a/servo/src/main/java/com/yvan/logisticsEnv/EnvStartParam.java b/servo/src/main/java/com/yvan/logisticsEnv/EnvStartParam.java new file mode 100644 index 0000000..52ea822 --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsEnv/EnvStartParam.java @@ -0,0 +1,23 @@ +package com.yvan.logisticsEnv; + +import lombok.Getter; +import lombok.Setter; + +/** + * 环境启动参数 + */ +@Getter +@Setter +public class EnvStartParam { + + /** + * 是否虚拟仿真环境 + */ + private boolean isVirtual; + + /** + * 时间倍速(仿真环境专用) + */ + private Integer timespeed; + +} diff --git a/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnv.java b/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnv.java new file mode 100644 index 0000000..9771c23 --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnv.java @@ -0,0 +1,42 @@ +package com.yvan.logisticsEnv; + +import com.galaxis.rcs.common.enums.EnvStatus; +import lombok.Getter; +import lombok.Setter; + +/** + * 物流仓储环境上下文 + */ +@Getter +@Setter +public class LogisticsEnv { + + private EnvStartParam startParam; + + // 环境ID + private String envId; + + // 环境状态 + private EnvStatus state; + + /** + * 获取AGV车列表 + */ + void getTasks() { + + } + + /** + * 载入地图 + */ + void loadMap() { + + } + + /** + * 获取库存分布状态 + */ + void loadInv() { + + } +} diff --git a/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnvManager.java b/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnvManager.java index 35a12a2..5e6e480 100644 --- a/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnvManager.java +++ b/servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnvManager.java @@ -1,4 +1,30 @@ package com.yvan.logisticsEnv; +import java.util.HashMap; +import java.util.Map; + public class LogisticsEnvManager { + + Map envs = new HashMap<>(); + + /** + * 启动参数 + */ + public void startEnv(EnvStartParam param) { + + } + + /** + * 复制环境, 返回新环境ID + */ + public String cloneEnv(String envId) { + throw new RuntimeException(); + } + + /** + * 重置环境 + */ + public String resetEnv(String envId) { + throw new RuntimeException(); + } } diff --git a/servo/src/main/java/com/yvan/logisticsModel/BaseItem.java b/servo/src/main/java/com/yvan/logisticsModel/BaseItem.java new file mode 100644 index 0000000..cc59d8b --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsModel/BaseItem.java @@ -0,0 +1,25 @@ +package com.yvan.logisticsModel; + +import lombok.Data; +import lombok.Getter; + +import java.util.Map; + +/** + * 物流单元基类 + */ +@Data +public class BaseItem { + String id; + String t; + + /** + * 变换矩阵, 3x3矩阵, 采用Y轴向上为正, X轴向右, Z轴向前的右手坐标系 + */ + float[][] tf; + + /** + * 物品的自定义数据 + */ + Map dt; +} diff --git a/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java b/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java new file mode 100644 index 0000000..ec36e40 --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java @@ -0,0 +1,27 @@ +package com.yvan.logisticsModel; + +import com.galaxis.rcs.common.entity.RcsTaskBiz; +import com.galaxis.rcs.common.entity.RcsTaskPlan; +import com.google.common.collect.Lists; + +import java.util.List; + +/** + * 物流任务执行单元(如拣货台、小车、AGV、堆垛机、人等) + */ +public class ExecutorItem extends BaseItem { + + private final List currentPlanList = Lists.newArrayList(); + + /** + * 执行规划任务 + */ + public void executeTaskPlanList(LogisticsRuntime runtime, RcsTaskBiz task, RcsTaskPlan[] planList) { + if (this.currentPlanList.size() > 0) { + throw new RuntimeException("has plans, please wait for the current plans to finish"); + } + + // TODO: 开启轮询线程，等待下一个待执行任务 + // 找到对应类型的 connector，进行报文的发送 + } +} diff --git a/servo/src/main/java/com/yvan/logisticsModel/Floor.java b/servo/src/main/java/com/yvan/logisticsModel/Floor.java new file mode 100644 index 0000000..c112aa9 --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsModel/Floor.java @@ -0,0 +1,17 @@ +package com.yvan.logisticsModel; + +import com.google.common.collect.Maps; + +import java.util.Map; + +/** + * 物流模型楼层 + */ +public class Floor { + + /** + * 物流固定单元（非箱子容器/非执行器的单元），比如输送线、货架、地标、路线等 + */ + public final Map itemMap = Maps.newConcurrentMap(); + +} diff --git a/servo/src/main/java/com/yvan/logisticsModel/FlowItem.java b/servo/src/main/java/com/yvan/logisticsModel/FlowItem.java new file mode 100644 index 0000000..bc82ccc --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsModel/FlowItem.java @@ -0,0 +1,7 @@ +package com.yvan.logisticsModel; + +/** + * 物流流动单元（周转箱、托盘等） + */ +public class FlowItem extends BaseItem { +} diff --git a/servo/src/main/java/com/yvan/logisticsModel/LogisticsModel.java b/servo/src/main/java/com/yvan/logisticsModel/LogisticsModel.java new file mode 100644 index 0000000..043a94f --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsModel/LogisticsModel.java @@ -0,0 +1,13 @@ +package com.yvan.logisticsModel; + +/** + * 物流模型类 + */ +public class LogisticsModel { + + /** + * 楼层目录 + */ + LogisticsRuntime catalog; + +} diff --git a/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java new file mode 100644 index 0000000..d2f81b1 --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java @@ -0,0 +1,48 @@ +package com.yvan.logisticsModel; + +import com.galaxis.rcs.task.TaskDispatchFactory; +import com.galaxis.rcs.task.TaskService; +import com.google.common.collect.Maps; +import com.yvan.logisticsEnv.LogisticsEnv; + +import java.util.Map; + +/** + * 物流 + */ +public class LogisticsRuntime { + + /** + * 物流执行环境 + */ + public final LogisticsEnv logisticsEnv; + + /** + * 任务服务 + */ + public TaskService taskService = new TaskService(this); + + /** + * 任务分配服务 + */ + public TaskDispatchFactory taskDispatchFactory = new TaskDispatchFactory(this); + + /** + * 物流流动单元（周转箱、托盘、纸箱等） + */ + public final Map flowItemMap = Maps.newConcurrentMap(); + + /** + * 物流任务执行单元(如拣货台、小车、AGV、堆垛机、人等) + */ + public final Map executorItemMap = Maps.newConcurrentMap(); + + /** + * 楼层目录 catalogCode -> Floor + */ + public final Map floorMap = Maps.newHashMap(); + + public LogisticsRuntime(LogisticsEnv logisticsEnv) { + this.logisticsEnv = logisticsEnv; + } +} diff --git a/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntimeService.java b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntimeService.java new file mode 100644 index 0000000..4affcad --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntimeService.java @@ -0,0 +1,24 @@ +package com.yvan.logisticsModel; + +import com.google.common.collect.Maps; + +import java.util.Map; + +/** + * 物流运行时服务类 + */ +public class LogisticsRuntimeService { + + private final Map runtimeMap = Maps.newConcurrentMap(); + + /** + * 根据 EnvCode 查找物流运行时实例 + */ + public LogisticsRuntime findByEnvCode(String envCode) { + LogisticsRuntime runtime = runtimeMap.get(envCode); + if (runtime != null) { + return runtime; + } + throw new RuntimeException("LogisticsRuntime not found for envCode: " + envCode); + } +} diff --git a/servo/src/main/java/com/yvan/logisticsModel/StaticItem.java b/servo/src/main/java/com/yvan/logisticsModel/StaticItem.java new file mode 100644 index 0000000..90b4445 --- /dev/null +++ b/servo/src/main/java/com/yvan/logisticsModel/StaticItem.java @@ -0,0 +1,10 @@ +package com.yvan.logisticsModel; + +import java.util.Map; + +/** + * 物流固定单元（非箱子容器/非执行器的单元），比如输送线、货架、地标、路线等 + */ +public class StaticItem extends BaseItem { + +} diff --git a/servo/src/main/java/com/yvan/logisticsMonitor/task/BizTask.java b/servo/src/main/java/com/yvan/logisticsMonitor/task/BizTask.java index 4b48df5..2cc0c57 100644 --- a/servo/src/main/java/com/yvan/logisticsMonitor/task/BizTask.java +++ b/servo/src/main/java/com/yvan/logisticsMonitor/task/BizTask.java @@ -1,4 +1,39 @@ package com.yvan.logisticsMonitor.task; -public class BizTask { +/** + * bizTaskId + * taskType + * lpn + * priority + * taskFrom + * taskTo + * bizTaskStatus + * createAt + * createBy + * description + */ +public interface BizTask { +// String getBizTaskId(); +// +// String getTaskType(); +// +// String getLpn(); +// +// int getPriority(); +// +// String getTaskFrom(); +// +// String getTaskTo(); +// +// String getBizTaskStatus(); +// +// String getCreateAt(); +// +// String getCreateBy(); +// +// String getUpdateAt(); +// +// String getUpdateBy(); +// +// String getDescription(); }