yvan-lcc-bench/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java

package com.galaxis.rcs.plan;

import com.fasterxml.jackson.annotation.JsonIgnore;
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.Splitter;
import com.google.common.collect.Lists;
import com.yvan.logisticsModel.LogisticsRuntime;
import lombok.SneakyThrows;
import lombok.extern.slf4j.Slf4j;
import org.clever.core.BannerUtils;
import org.clever.core.id.SnowFlake;
import org.clever.core.json.JsonWrapper;

import java.math.BigDecimal;
import java.util.Date;
import java.util.List;
import java.util.Map;

@Slf4j
public class PlanTaskSequence {
    @JsonIgnore
    public static final SnowFlake snowFlake = new SnowFlake();
    public final String executorId;
    @JsonIgnore
    public final LogisticsRuntime logisticsRuntime;
    public final List<RcsTaskPlan> taskList = Lists.newArrayList();
    public final RcsTaskBiz bizTask;
    public final String createBy;

    public String lastWayPointId;
    public Float lastRotationAngle = null;
    public String lastLoadLpn = "";

    public PlanTaskSequence(String executorId, LogisticsRuntime logisticsRuntime, RcsTaskBiz bizTask, String createBy) {
        this.executorId = executorId;
        this.logisticsRuntime = logisticsRuntime;
        this.bizTask = bizTask;
        this.createBy = createBy;
    }

    private RcsTaskPlan createTaskPlanEntity(String planType) {
        RcsTaskPlan planTask = new RcsTaskPlan();
        planTask.setPlanTaskId(snowFlake.nextId());
        planTask.setBizTaskId(this.bizTask.getBizTaskId());
        planTask.setEnvId(logisticsRuntime.logisticsEnv.getEnvId());
        planTask.setPlanType(planType);
        planTask.setExecutorId(this.executorId);
        planTask.setSeq(taskList.size());
        planTask.setPlanTaskStatus(PlanTaskStatus.PENDING.toString());
        planTask.setPlanTaskErrorInfo("N/A");
        planTask.setPlanTaskDescription("N/A");
        planTask.setCreateBy(createBy);
        planTask.setCreateAt(new Date());

        taskList.add(planTask);
        return planTask;
    }

    // 添加移动到指定路标点的动作
    public RcsTaskPlan addMoveTo(String waypointId) {
        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.MOVE.toString());
        task.setTargetId(waypointId);
        this.lastWayPointId = waypointId;
        return task;
    }

    public RcsTaskPlan addMoveBackward(String wayPointId) {
        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.MOVE_BACKWARD.toString());
        task.setTargetId(wayPointId);
        this.lastWayPointId = wayPointId;
        return task;
    }

    // 添加旋转动作
    public RcsTaskPlan addRotationTo(float rotationAngle) {
        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.ROTATION.toString());
        task.setTargetRotation(new BigDecimal(rotationAngle));
        this.lastRotationAngle = rotationAngle;
        return task;
    }

    // 添加取货动作
    public RcsTaskPlan addLoad(String lpn, String rackId, int bay, int level, int cell) {
        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.LOAD.toString());
        task.setTargetId(rackId);
        task.setTargetBay(bay);
        task.setTargetLevel(level);
        task.setTargetCell(cell);
        this.lastLoadLpn = lpn;
        return task;
    }

    // 添加放货动作
    public RcsTaskPlan addUnload(String item, int level, int bay, int cell) {
        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.UNLOAD.toString());
        task.setTargetId(item);
        task.setTargetBay(bay);
        task.setTargetLevel(level);
        task.setTargetCell(cell);
        this.lastLoadLpn = "";
        return task;
    }

    // 添加完成动作
    public RcsTaskPlan addFinish() {
        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.FINISH.toString());
        return task;
    }

    /**
     * 输出方便阅读的 Json 格式
     *
     * @return
     */
    public Map<String, ?> toPrettyMap() {
        JsonWrapper jw = new JsonWrapper();
        jw.set("executorId", executorId);
        jw.set("bizTask", bizTask);
        List<String> list = Lists.newArrayList();
        for (RcsTaskPlan task : taskList) {
            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 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();

            list.add(taskStr);
        }
        jw.set("items", list);
        return jw.getInnerMap();
    }

    /**
     * 是不是所有的任务都完成了
     */
    public boolean isAllCompleted() {
        boolean isAllComplete = true;
        for (RcsTaskPlan task : taskList) {
            if (PlanTaskType.valueOf(task.getPlanType()) != PlanTaskType.FINISH) {
                if (!PlanTaskStatus.FINISHED.toString().equals(task.getPlanTaskStatus())) {
                    isAllComplete = false;
                    break;
                }
            }
        }
        return isAllComplete;
    }

    public RcsTaskPlan getByPlanTaskId(Long planTaskId) {
        for (RcsTaskPlan task : taskList) {
            if (task.getPlanTaskId().equals(planTaskId)) {
                return task;
            }
        }
        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();
    }

    public int size() {
        return this.taskList.size();
    }
}