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取货放货

master
yuliang 6 months ago
parent
b009a93c6e
commit
9b49c419a3
6 changed files with 161 additions and 67 deletions
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  1. 7
      servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java
  2. 6
      servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrTaskCompletedMessage.java
  3. 3
      servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsTaskMessage.java
  4. 65
      servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java
  5. 27
      servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java
  6. 104
      servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java

7
servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java
View File

@ -140,6 +140,7 @@ public class AmrMessageHandler {
switch (ArmMessageType.fromValue(id)) {
case AMR_TASK_COMPLETED:
AmrMessage<AmrTaskCompletedMessage> taskCompletedMessage = JacksonUtils.parse(json, typeRef20010Message);
handleTaskCompletedMessage(agvItem, taskCompletedMessage.content);
break;
case AMR_TASK_STATUS:
handleTaskStatusMessage(agvItem, jw, json);
@ -419,6 +420,11 @@ public class AmrMessageHandler {
updateRedisNetDelay(agvItem.getId(), netDelay);
}
private void handleTaskCompletedMessage(PtrAgvItem agvItem, AmrTaskCompletedMessage message) {
agvItem.updateTask(message.CurX, message.CurY, message.CurDirection, 4);
}
private void handleLandmarkMessage(PtrAgvItem agvItem, AmrLandmarkMessage message) {
// 这是源逻辑，CurLogicX / CurLogicY / CurDirection 需要到 PtrAgvItem 中更新, 因为要触发事件
agvItem.x = message.X;
@ -488,6 +494,7 @@ public class AmrMessageHandler {
// agvItem.logicY = completedMessage.Info.CurLogicY;
// // agvStatusAndInfo.orientation = landmarkMessage.content.CurOrientation;
// agvItem.direction = taskCompleted.content.Info.CurDirection;
agvItem.updateTask(completedMessage.Info.CurLogicX, completedMessage.Info.CurLogicY, taskCompleted.content.Info.CurDirection, 4);
agvItem.updatePosition(completedMessage.Info.CurLogicX, completedMessage.Info.CurLogicY, taskCompleted.content.Info.CurDirection);
break;
case 8:

6
servo/src/main/java/com/galaxis/rcs/ptr/receiveEntity/AmrTaskCompletedMessage.java
View File

@ -11,10 +11,10 @@ import com.galaxis.rcs.ptr.receiveEntity.base.SummaryData;
@JsonIgnoreProperties(ignoreUnknown = true)
public class AmrTaskCompletedMessage extends AmrCommonMessage {
// 当前X坐标 Double 当前实际位置在地图坐标系中的X坐标
public double CurX;
// 当前X坐标 UInt16
public int CurX;
// 当前Y坐标 Double 当前实际位置在地图坐标系中的Y坐标
public double CurY;
public int CurY;
// 当前方向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
public short CurDirection;
// 当前方向 Double 角度

3
servo/src/main/java/com/galaxis/rcs/ptr/sendEntity/RcsTaskMessage.java
View File

@ -40,6 +40,9 @@ public class RcsTaskMessage {
public Integer GoodsSlotHeight;
// 目标货位朝向 UInt8 朝向定义与充电桩朝向相同。 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
public Short GoodsSlotDirection;
// 结束朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
public Short EndDirection;
// 多机构^[1]^的拣货模式 UInt8[3] 数组形式，意义同"PickMode"
public List<Short> MPickMode;
// 多机构^[1]^的目标货位高度 UInt16[3] 单位：mm

65
servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java
View File

@ -10,6 +10,7 @@ import org.eclipse.paho.mqttv5.common.MqttException;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.locks.LockSupport;
@Slf4j
public class PtrAgvConnectorThread extends Thread {
@ -40,8 +41,6 @@ public class PtrAgvConnectorThread extends Thread {
int taskCount = 0;
PtrAgvDeviceTask startTask = null;
PtrAgvDeviceTask currentTask = null;
PtrAgvDeviceTask nextTask = null;
RcsTaskMessage taskMessage = null;
// 计算中的任务
@ -55,26 +54,10 @@ public class PtrAgvConnectorThread extends Thread {
}
}
// for (PtrAgvDeviceTask task : this.ptrAgvItem.runningDeviceTaskList) {
// if (task.taskGroupStatus < 3) {
// LockSupport.park(); // 阻塞当前线程
// break;
// }
// }
// 从队列中获取任务，如果队列为空则阻塞等待
if (nextTask == null) {
nextTask = this.ptrAgvItem.deviceTaskQueue.take();
} else {
currentTask = nextTask;
}
if (startTask == null && !nextTask.isLastTask) {
PtrAgvDeviceTask currentTask = this.ptrAgvItem.deviceTaskQueue.take();
if (startTask == null) {
startTask = currentTask;
taskMessage = new RcsTaskMessage(this.logisticsRuntime);
startTask = nextTask;
currentTask = nextTask;
startTask.seqNo = taskMessage.SeqNo;
taskMessage.OperationType = startTask.operationType;
taskMessage.PickMode = startTask.pickMode;
taskMessage.GoNow = true;
@ -82,33 +65,28 @@ public class PtrAgvConnectorThread extends Thread {
taskMessage.StartY = startTask.startPoint.logicY;
taskMessage.Link = new ArrayList<>();
}
if (currentTask == nextTask && taskMessage != null) {
currentTask.seqNo = taskMessage.SeqNo;
RcsTaskMessage.LinkData link = new RcsTaskMessage.LinkData(currentTask.endPoint.logicX, currentTask.endPoint.logicY, currentTask.speed);
taskMessage.Link.add(link);
taskCount++;
distance += euclideanDistance(currentTask.startPoint.tf[0], currentTask.endPoint.tf[0]);
computingTaskList.add(currentTask);
}
// 组织设备任务并发送
else if (taskMessage != null &&
(currentTask.operationType > 0 // 当前任务不是移动任务
|| currentTask.pickMode > 0 // 当前作业不是默认作业（无）
|| nextTask.isLastTask // 下一个任务是结束任务
|| (((startTask.speed > 0) != (nextTask.speed > 0) || startTask.direction != nextTask.direction) && taskMessage.Link.size() > 0) // 下一个任务和开始任务方向不一致
// 单向移动距离大于2m时并且点位数量大于1
|| (distance > 2 && taskCount > 1))) {
PtrAgvDeviceTask nextTask = this.ptrAgvItem.deviceTaskQueue.peek();
if (currentTask.isGroupEnd
|| (taskMessage.Link.size() > 0 && nextTask != null && ((startTask.speed > 0) != (nextTask.speed > 0) || startTask.direction != nextTask.direction)) // 下一个任务和开始任务方向不一致
// 单向移动距离大于2m时并且点位数量大于1
|| (distance > 2 && taskCount > 1)) {
taskMessage.OperationType = currentTask.operationType;
taskMessage.PickMode = currentTask.pickMode;
taskMessage.EndX = currentTask.endPoint.logicX;
taskMessage.EndY = currentTask.endPoint.logicY;
taskMessage.EndX = currentTask.groupEndPoint.logicX;
taskMessage.EndY = currentTask.groupEndPoint.logicY;
taskMessage.GoodsSlotDirection = currentTask.goodsSlotDirection;
taskMessage.GoodsSlotHeight = currentTask.goodsSlotHeight;
taskMessage.LinkCounts = (short) taskMessage.Link.size();
taskMessage.ChargeDirection = currentTask.chargeDirection;
taskMessage.ChargeLocation = currentTask.chargeLocation;
try {
// 发送任务
this.__currentTaskSeqNo = taskMessage.SeqNo;
@ -121,18 +99,27 @@ public class PtrAgvConnectorThread extends Thread {
}
computingTaskList.clear();
} catch (MqttException | JsonProcessingException e) {
log.error("Cl2DeviceConnector robotMove: id=" + ptrAgvItem.getId() + ", task=" + currentTask.planTaskId, e);
log.error("Cl2DeviceConnector robotMove: id=" + ptrAgvItem.getId() + ", task=" + currentTask.movePlanTaskId, e);
}
distance = 0;
taskCount = 0;
taskMessage = null;
startTask = null;
}
if (nextTask == currentTask || nextTask.isLastTask) {
nextTask = null;
if (currentTask.isGroupEnd) {
// 当一组任务结束时，阻塞当前线程，等当前任务执组行完毕后在外部线程中唤醒
LockSupport.park(); // 阻塞当前线程
} else {
for (PtrAgvDeviceTask task : this.ptrAgvItem.runningDeviceTaskList) {
if (task.taskGroupStatus < 4) {
LockSupport.park(); // 阻塞当前线程
break;
}
}
}
}
}
} catch (InterruptedException e) {
System.out.println("Connector thread interrupted for executor: " + this.ptrAgvItem.getId());
} finally {

27
servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java
View File

@ -1,5 +1,8 @@
package com.yvan.logisticsModel;
import java.util.HashSet;
import java.util.Set;
public class PtrAgvDeviceTask {
//该段目标点X坐标 UInt16 逻辑单位，乘以一定系数才是物理距离
public int x;
@ -13,6 +16,10 @@ public class PtrAgvDeviceTask {
public StaticItem startPoint;
// 该段目标点
public StaticItem endPoint;
// 分组起始点
public StaticItem groupStartPoint;
// 分组目标点
public StaticItem groupEndPoint;
// 作业类型 UInt8 0：运输 1：接货 2：卸货 3：充电 4：提升移栽取货或卸货 5：滚筒取货或卸货（双向作业）
public short operationType;
// 提升移栽货物拣货模式 UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
@ -24,20 +31,30 @@ public class PtrAgvDeviceTask {
// 目标货位相对于地面的绝对高度
public int goodsSlotHeight;
//充电桩朝向UseBriefLocation UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
public Short chargeDirection;
// 充电工位坐标和充电桩之间距离 UInt16 单位：mm
public Integer chargeLocation;
// 目标货架编号 String 仅做校验使用（仅接货用）
public String storageRacksNo;
// 结束朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
public Short endDirection;
/** 规划ID */
public Long planTaskId;
/** 移动规划ID */
public Long movePlanTaskId;
/** 转动取货放货充电等规划ID */
public Set<Long> planTaskIdSet = new HashSet<>();
/** 业务任务ID */
public Long bizTaskId;
// 作业序号 发送给小车的作业序号
public int seqNo;
// 任务状态 0创建 1发送成功 2接收成功 3任务开始 4已完成 5已取消 6已暂停 7已恢复 8任务已经变更
// 任务状态 0创建 1任务模式改变 2任务接收成功 3任务开始 4已完成 5已取消 6已暂停 7已恢复 8任务已经变更
public int taskStatus = 0;
public int taskGroupStatus = 0;
// 是否最后任务
public boolean isLastTask = false;
// 任务分组结束标记 生成报文时作为判断依据
public boolean isGroupEnd = false;
public int checkLogicX;
public int checkLogicY;
}

104
servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java
View File

@ -16,6 +16,7 @@ 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.logisticsMonitor.task.PlanTask;
import lombok.SneakyThrows;
import lombok.extern.slf4j.Slf4j;
import org.clever.core.BannerUtils;
@ -27,6 +28,7 @@ import java.util.*;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.CopyOnWriteArraySet;
import java.util.concurrent.locks.LockSupport;
import java.util.stream.Collectors;
//0.4m/ss // a max 1.2m/s
//90 = 3.5s cl2
@ -239,6 +241,29 @@ public abstract class PtrAgvItem extends ExecutorItem {
return true;
}
public void updateTask(int logicX, int logicY, short direction, int taskStatus) {
updatePosition(logicX, logicY, direction);
// 查找当前分组任务
for (PtrAgvDeviceTask task : runningDeviceTaskList) {
task.taskGroupStatus = taskStatus;
if (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();
for (RcsTaskPlan planTask : planTaskList) {
planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
planTaskSequence.savePlanTask(planTask);
}
}
}
if (planTaskSequence.isAllCompleted()) {
fireEvent(AgvEventType.PLAN_COMPLETE, this);
this.runningDeviceTaskList.clear();
planTaskSequence = null;
}
}
public void updatePosition(int logicX, int logicY, short direction) {
int oldX = this.logicX;
int oldY = this.logicY;
@ -273,7 +298,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
for (int i = 0; i < runningDeviceTaskList.size(); i++) {
PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
if (task.checkLogicX == logicX && task.checkLogicY == logicY && task.taskStatus < 4) {
finishTargetIndex = i;
break;
}
@ -284,13 +309,11 @@ public abstract class PtrAgvItem extends ExecutorItem {
// 标记前面的任务都完成了
for (int i = 0; i <= finishTargetIndex; i++) {
PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
task.taskStatus = 4; // 标记为完成
task.taskGroupStatus = 4; // 标记为任务组完成
fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);
// 更新计划任务
RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.planTaskId);
RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.movePlanTaskId);
if (planTask != null) {
planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
planTaskSequence.savePlanTask(planTask);
@ -299,6 +322,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
if (planTaskSequence.isAllCompleted()) {
fireEvent(AgvEventType.PLAN_COMPLETE, this);
this.runningDeviceTaskList.clear();
planTaskSequence = null;
}
}
@ -447,13 +471,16 @@ public abstract class PtrAgvItem extends ExecutorItem {
if (startPoint == null) {
log.error("Cl2DeviceConnector robotMove: executorItem={}, task={}, agv当前点位为空 地图上没有标记", this.getId(), sequence.bizTask.getBizTaskId());
}
StaticItem groupStartPoint = startPoint;
Set<Long> rotationPlanTaskIdSet = new HashSet<>();
// 生成移动报文
List<PtrAgvDeviceTask> deviceTaskList = new ArrayList<>();
List<Map<String, Object>> linkStore = null;
// 检查 planList 是不是全都是我的任务
for (RcsTaskPlan plan : sequence.taskList) {
for (int i = 0; i < sequence.taskList.size(); i++) {
RcsTaskPlan plan = sequence.taskList.get(i);
String endPointId = plan.getTargetId();
if (plan.getPlanType().equals(PlanTaskType.MOVE.toString()) || plan.getPlanType().equals(PlanTaskType.MOVE_BACKWARD.toString())) {
@ -486,7 +513,9 @@ public abstract class PtrAgvItem extends ExecutorItem {
deviceTask.startPoint = startPoint;
deviceTask.endPoint = pointItem;
deviceTask.bizTaskId = plan.getBizTaskId();
deviceTask.planTaskId = plan.getPlanTaskId();
deviceTask.movePlanTaskId = plan.getPlanTaskId();
deviceTask.planTaskIdSet.addAll(rotationPlanTaskIdSet);
rotationPlanTaskIdSet.clear();
// 行走任务完成后，检查用的字段
deviceTask.checkLogicX = pointItem.logicX;
deviceTask.checkLogicY = pointItem.logicY;
@ -516,12 +545,14 @@ public abstract class PtrAgvItem extends ExecutorItem {
} else if (r >= 225 && r < 315) {
direction = CDirection.db;
}
rotationPlanTaskIdSet.add(plan.getPlanTaskId());
} else if (plan.getPlanType().equals(PlanTaskType.LOAD.toString())) {
PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
deviceTask.operationType = COperationType.transplantLoadAndUnload;
deviceTask.pickMode = CPickMode.load;
deviceTask.planTaskIdSet.add(plan.getPlanTaskId());
//处理取货高度
StaticItem storeItem = runtime.getStaticItemById(endPointId);
Map<String, Object> storeItemRaw = storeItem.dt;
@ -556,17 +587,24 @@ public abstract class PtrAgvItem extends ExecutorItem {
}
}
// 标记任务分组结束
deviceTask.isGroupEnd = true;
deviceTask.groupEndPoint = deviceTask.endPoint;
deviceTask.groupStartPoint = groupStartPoint;
groupStartPoint = deviceTask.endPoint;
} else if (plan.getPlanType().equals(PlanTaskType.UNLOAD.toString())) {
PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
deviceTask.operationType = COperationType.transplantLoadAndUnload;
deviceTask.pickMode = CPickMode.unload;
deviceTask.planTaskIdSet.add(plan.getPlanTaskId());
// 处理卸货高度
StaticItem storeItem = runtime.getStaticItemById(endPointId);
Map<String, Object> storeItemRaw = storeItem.dt;
if (storeItemRaw.containsKey("bays") && storeItemRaw.containsKey("level")) {
if (storeItemRaw.containsKey("bays")) {
List<Map<String, Object>> bays = (List<Map<String, Object>>) storeItemRaw.get("bays");
Map<String, Object> bay = bays.get(plan.getTargetBay());
List<Double> levelHeight = (List<Double>) bay.get("levels");
List<Double> levelHeight = (List<Double>) bay.get("levelHeight");
deviceTask.goodsSlotHeight = (int) Math.round(levelHeight.get(plan.getTargetLevel()) * 1000);
} else {
deviceTask.goodsSlotHeight = 1;
@ -593,11 +631,24 @@ public abstract class PtrAgvItem extends ExecutorItem {
}
}
}
// 标记任务分组结束
deviceTask.isGroupEnd = true;
deviceTask.groupEndPoint = deviceTask.endPoint;
deviceTask.groupStartPoint = groupStartPoint;
groupStartPoint = deviceTask.endPoint;
} else if (plan.getPlanType().equals(PlanTaskType.CHARGE.toString())) {
PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
deviceTask.operationType = COperationType.charge;
deviceTask.planTaskIdSet.add(plan.getPlanTaskId());
// 处理充电距离(车的充电口到充电器被压下后的距离、一般被压下20mm)
deviceTask.chargeDirection = 0;
deviceTask.chargeLocation = 200;
// 标记任务分组结束
deviceTask.isGroupEnd = true;
deviceTask.groupEndPoint = deviceTask.endPoint;
deviceTask.groupStartPoint = groupStartPoint;
groupStartPoint = deviceTask.endPoint;
}
if (!plan.getExecutorId().equals(this.getId())) {
@ -605,10 +656,39 @@ public abstract class PtrAgvItem extends ExecutorItem {
}
}
// 添加结束任务
PtrAgvDeviceTask deviceTaskEnd = new PtrAgvDeviceTask();
deviceTaskEnd.isLastTask = true;
deviceTaskList.add(deviceTaskEnd);
// 标记任务分组结束
PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
deviceTask.groupEndPoint = deviceTask.endPoint;
deviceTask.groupStartPoint = groupStartPoint;
deviceTask.isGroupEnd = true;
// 最后一个规划任务为旋转时需要添加一个endDirection
if (rotationPlanTaskIdSet.size() > 0) {
deviceTask.endDirection = direction;
deviceTask.planTaskIdSet.addAll(rotationPlanTaskIdSet);
rotationPlanTaskIdSet.clear();
}
// 反向标记任务组
int lastIndex = deviceTaskList.size() - 1;
for (int i = deviceTaskList.size() - 1; i >= 0 ; i--) {
PtrAgvDeviceTask d = deviceTaskList.get(i);
if (d.isGroupEnd) {
lastIndex = i;
} else {
d.operationType = deviceTaskList.get(lastIndex).operationType;
d.pickMode = deviceTaskList.get(lastIndex).pickMode;
d.groupStartPoint = deviceTaskList.get(lastIndex).groupStartPoint;
d.groupEndPoint = deviceTaskList.get(lastIndex).groupEndPoint;
d.goodsSlotHeight = deviceTaskList.get(lastIndex).goodsSlotHeight;
d.goodsSlotDirection = deviceTaskList.get(lastIndex).goodsSlotDirection;
d.chargeDirection = deviceTaskList.get(lastIndex).chargeDirection;
d.chargeLocation = deviceTaskList.get(lastIndex).chargeLocation;
}
}
// planQueue.addAll(sequence.taskList);
deviceTaskQueue.addAll(deviceTaskList);

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