yvan-lcc-bench/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java

package com.yvan.logisticsModel;

import com.galaxis.rcs.connector.cl2.Cl2Item;
import com.galaxis.rcs.plan.path.NavigationGraph;
import com.galaxis.rcs.plan.path.PtrPathPlanner;
import com.galaxis.rcs.ptr.AmrMessageHandler;
import com.galaxis.rcs.task.TaskDispatchFactory;
import com.galaxis.rcs.task.TaskService;
import com.google.common.base.Joiner;
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;
import com.yvan.workbench.model.entity.LccProjectEnv;
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;

import java.util.Date;
import java.util.List;
import java.util.Map;
import java.util.Set;

/**
 * 物流运行时
 */
@Slf4j
public class LogisticsRuntime {
    /**
     * 项目UUID
     */
    public final String projectUuid;
    /**
     * 环境ID
     */
    public final long envId;
    /**
     * 项目
     */
    public final LccProject project;

    /**
     * 环境
     */
    public final LccProjectEnv env;

    /**
     * 是否为虚拟环境
     */
    public final boolean isVirtual;

    /**
     * 服务器名_PID
     */
    public final String serverId;

    /**
     * 是否正在运行
     */
    private boolean isRunning;

    /**
     * 环境开始时间
     */
    private long startTime;

    /**
     * 环境停止时间
     */
    private long stopTime;

    /**
     * 时间流速倍率
     */
    private float timeRate;

    private final Redis redis = RedisAdmin.getRedis();

    /**
     * 任务服务
     */
    public final TaskService taskService = new TaskService(this);

    /**
     * 任务分配服务
     */
    public final TaskDispatchFactory taskDispatchFactory = new TaskDispatchFactory(this);

    /**
     * 物流任务执行单元(如拣货台、小车、AGV、堆垛机、人等)
     */
    public final Map<String, ExecutorItem> executorItemMap = Maps.newHashMap();

    /**
     * AGV导航地图 车类型 t -> NavigationGraph
     */
    public final Map<String, PtrPathPlanner> pathPlannerMap = Maps.newHashMap();

    /**
     * 楼层目录 catalogCode -> Floor
     */
    public final Map<String, Floor> floorMap = Maps.newHashMap();

    public final AmrMessageHandler amrMessageHandler = new AmrMessageHandler(this);

    public final FrontendMessagePushService frontendMessagePushService = new FrontendMessagePushService(this);

    public final LccRedisService lccRedisService = new LccRedisService(this);

    public final AgvEventManager eventManager = new AgvEventManager();

    public LogisticsRuntime(LccProject project, LccProjectEnv env, String serverId) {
        this.project = project;
        this.env = env;
        this.projectUuid = project.getProjectUuid();
        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);
        });
    }

    /**
     * 获取当前空闲的执行器列表
     */
    public List<ExecutorItem> getFreeExecutorList() {
        return Lists.newArrayList();
//        List<ExecutorItem> freeExecutorList = Lists.newArrayList();
//        for (ExecutorItem executorItem : executorItemMap.values()) {
//            if (executorItem.isFree()) {
//                freeExecutorList.add(executorItem);
//            }
//        }
//        return freeExecutorList;
    }


    /**
     * 根据 ID 获取静态物品（如路标点、货架等）
     */
    public StaticItem getStaticItemById(String itemId) {
        // 到所有楼层寻找这个物品
        for (Floor floor : this.floorMap.values()) {
            StaticItem item = floor.itemMap.get(itemId);
            if (item != null) {
                return item;
            }
        }
        return null;
    }

    /**
     * 根据逻辑坐标, 获取静态物品（如路标点、货架、地堆位等）
     */
    public StaticItem getStaticItemByLogicXY(int logicX, int logicY) {
        // 到所有楼层寻找这个物品
        for (Floor floor : this.floorMap.values()) {
            for (StaticItem item : floor.itemMap.values()) {
                if (item.logicX == logicX && item.logicY == logicY) {
                    return item;
                }
            }
        }
        return null;
    }

    /**
     * 读取某个楼层的地图数据
     * 格式必须是如下模式:
     * <pre>
     * {
     *     "catalogCode": "f2",
     *     "t": "floor",
     *     "items": []
     * }
     * </pre>
     */
    public void loadMap(String catalogCode, List<Map<String, Object>> items) {
        Floor floor = new Floor(catalogCode);
        this.floorMap.put(floor.id, floor);

        for (Map<String, Object> itemObject : items) {
            String t = Conv.asString(itemObject.get("t"));
            BaseItem item;
            switch (t) {
                case "way":
                case "gstore":
                case "rack":
                case "charger":
                    item = new StaticItem(this, itemObject);
                    floor.itemMap.put(item.getId(), (StaticItem) item);
                    break;

                case "pallet":
                case "carton":
                    // 库存不在运行时加载
                    // item = new FlowItem(this, itemObject);
                    // this.flowItemMap.put(item.getId(), (FlowItem) item);
                    break;

                case "cl2":
                case "clx":
                    item = new Cl2Item(this, itemObject);
                    this.executorItemMap.put(item.getId(), (ExecutorItem) item);
                    break;
            }
        }

    }

    /**
     * 启动物流环境
     */
    public void start() {
        // 启动环境计时
        if (this.isRunning) {
            throw new RuntimeException("environment is already running");
        }

        BannerUtils.printConfig(log, "LogisticsRuntime Start", new String[]{
            "projectUUID: " + this.projectUuid,
            "envId: " + this.envId,
            "projectPath: " + this.project.getProjectFileLocation(),
            "envPath: " + this.env.getFileLocation(),
            "virtual: " + this.isVirtual,
            "floor: " + Joiner.on(",").join(this.floorMap.values().stream().map(Floor::toString).toList()),
            "mqtt: " + this.env.getEnvConfig().getMqtt().getBrokerUrl(),
            "serverId: " + this.serverId,
            "executors: " + this.executorItemMap.size(),
        });

        this.isRunning = true;
        this.startTime = System.currentTimeMillis();
        this.stopTime = 0L;
        this.timeRate = 1.0f;

        // 启动 MQTT 监听
        this.amrMessageHandler.start(this.env.getEnvConfig().getMqtt(), this.serverId);
        this.frontendMessagePushService.start(this.env.getEnvConfig().getMqtt(), this.serverId + "_lcc_send");
        this.lccRedisService.start(this.env.getEnvConfig().getRedis(), this.serverId);

        // 开启所有机器人的任务处理
        Set<String> executorTypes = Sets.newHashSet();
        for (ExecutorItem executorItem : executorItemMap.values()) {
            executorTypes.add(executorItem.getT());
            executorItem.start();
            log.info("Executor {} started", executorItem.getId());
        }

        // 初始化各类机器人的地图计算
        NavigationGraph graph = new NavigationGraph(this);
        graph.init();
        for (String type : executorTypes) {
            this.pathPlannerMap.put(type, new PtrPathPlanner(graph));
        }

        // 启动任务指派服务
        this.taskDispatchFactory.startPolling();
    }

    public boolean isRunning() {
        return this.isRunning;
    }

    /**
     * 获取所有楼层的静态物品（如路标点、货架、地堆位等）
     */
    public Iterable<StaticItem> getStaticItems() {
        return () -> this.floorMap.values().stream()
            .flatMap(floor -> floor.itemMap.values().stream())
            .iterator();
    }

    public long currentTimeMillis() {
        if (!this.isVirtual) {
            // 正式环境，返回系统当前时间
            return System.currentTimeMillis();
        }
        if (!this.isRunning) {
            return this.stopTime;
        }

        long realCost = System.currentTimeMillis() - this.startTime;
        return Conv.asLong(this.startTime + (realCost * this.timeRate));
    }

    public Date getCurrentDate() {
        return new Date(this.currentTimeMillis());
    }

    public void stop() {
        if (!this.isRunning) {
            throw new RuntimeException("environment is not running");
        }
        this.isRunning = false;
        this.stopTime = System.currentTimeMillis();

        // 停止任务指派服务
        this.taskDispatchFactory.stopPolling();

        // 停止所有机器人的任务处理
        for (ExecutorItem executorItem : executorItemMap.values()) {
            executorItem.stop();
            log.info("Executor {} stopped", executorItem.getId());
        }

        // 停止 MQTT 监听
        this.amrMessageHandler.stop();
        this.frontendMessagePushService.stop();
        this.lccRedisService.stop();

        BannerUtils.printConfig(log, "LogisticsRuntime stop.", new String[]{
            "projectUUID: " + this.projectUuid,
            "envId: " + this.envId,
            "virtual: " + this.isVirtual,
            "serverId: " + this.serverId,
            "stopTime: " + new Date(this.stopTime),
            "timeRate: " + this.timeRate,
        });
    }

    public RuntimeState getState() {
        RuntimeState state = new RuntimeState();

        state.projectUuid = this.projectUuid;
        state.envId = this.envId;
        state.isVirtual = this.isVirtual;
        state.serverId = this.serverId;
        state.isRunning = this.isRunning;

        state.startTime = this.startTime;
        state.stopTime = this.stopTime;
        state.timeRate = this.timeRate;
        state.subSystemList = this.project.getSubSystemList();

        state.fillSystemInfos();
        return state;
    }
}