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682 lines
25 KiB
682 lines
25 KiB
package com.yvan.logisticsModel;
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import com.fasterxml.jackson.annotation.JsonIgnore;
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import com.galaxis.rcs.common.entity.RcsTaskPlan;
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import com.galaxis.rcs.common.enums.AgvEventType;
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import com.galaxis.rcs.common.enums.LCCDirection;
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import com.galaxis.rcs.common.enums.PlanTaskStatus;
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import com.galaxis.rcs.common.enums.PlanTaskType;
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import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
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import com.galaxis.rcs.plan.PlanTaskSequence;
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import com.galaxis.rcs.ptr.*;
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import com.galaxis.rcs.ptr.receiveEntity.AmrHeartbeatMessage;
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import com.galaxis.rcs.ptr.receiveEntity.base.CurBatteryData;
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import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
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import com.galaxis.rcs.ptr.sendEntity.RcsSRMessage;
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import com.galaxis.rcs.ptr.sendEntity.RcsSetLocationMessage;
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import com.google.common.base.Joiner;
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import com.google.common.collect.Queues;
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import lombok.SneakyThrows;
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import lombok.extern.slf4j.Slf4j;
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import org.clever.core.BannerUtils;
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import org.clever.core.json.JsonWrapper;
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import org.clever.data.redis.Redis;
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import org.clever.data.redis.RedisAdmin;
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import java.util.*;
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import java.util.concurrent.BlockingQueue;
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import java.util.concurrent.CopyOnWriteArraySet;
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import java.util.concurrent.locks.LockSupport;
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//0.4m/ss // a max 1.2m/s
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//90 = 3.5s cl2
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//90 = 5s // cLX
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@Slf4j
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public abstract class PtrAgvItem extends ExecutorItem {
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private static final int BLOCKING_QUEUE_CAPACITY = 100;
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private static final Redis redis = RedisAdmin.getRedis();
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// ip
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public String ip;
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// agv名称
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public String agvName;
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// agv类型
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public String agvType;
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// agv型号
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public String agvModel;
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// AMR功能型号
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public String agvFnModel;
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// 电池信息
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public CurBatteryData battery;
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// agv当前x坐标
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public double x;
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// agv当前y坐标
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public double y;
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// agv当前z坐标
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public double z;
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// 当前所在站点的逻辑X坐标 Int32
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public int logicX;
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// 当前所在站点的逻辑Y坐标 Int32
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public int logicY;
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// 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
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public short direction;
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// agv当前转动角度值
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public double orientation;
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// 任务模式
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public AmrTaskMode taskMode;
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private volatile boolean isManualMode = false;
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private volatile boolean isPaused = false;
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private volatile PosDirection lastPausedPosition;
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private volatile boolean isOnline = false;
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private final Set<AgvEventListener> eventListeners = new CopyOnWriteArraySet<>();
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// 执行中的任务
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@JsonIgnore
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public List<PtrAgvDeviceTask> runningDeviceTaskList = new ArrayList<>();
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/**
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* 当前执行的任务规划列表
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*/
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@JsonIgnore
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private volatile PlanTaskSequence planTaskSequence;
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/**
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* 当前执行的设备任务列表
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*/
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@JsonIgnore
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final BlockingQueue<PtrAgvDeviceTask> deviceTaskQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);
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final Cl2DeviceConnector cl2DeviceConnector = new Cl2DeviceConnector(this.runtime);
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@JsonIgnore
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public final AmrMessageHandler amrMessageHandler;
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/**
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* 连接器线程
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*/
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private final PtrAgvConnectorThread connectorThread;
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public PtrAgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
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super(logisticsRuntime, raw);
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this.connectorThread = new PtrAgvConnectorThread(this, this.cl2DeviceConnector, logisticsRuntime);
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this.amrMessageHandler = logisticsRuntime.amrMessageHandler;
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}
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public abstract RcsConfigMessage getConfig();
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@SneakyThrows
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public synchronized void initialize() {
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this.amrMessageHandler.registeHeartBeatSet(this);
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// 查询当前状态
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requestCurrentStatus();
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this.isInitialized = true;
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this.startConnector();
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}
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public synchronized void shutdown() {
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this.stopConnector();
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this.amrMessageHandler.unregisteHeartBeatSet(this);
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}
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public synchronized void dispatchTask(PlanTaskSequence taskSequence) {
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if (!isFree()) {
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throw new IllegalStateException("AGV is not free to accept new tasks");
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}
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if (isManualMode) {
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throw new IllegalStateException("AGV is in manual mode and cannot accept tasks");
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}
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this.planTaskSequence = taskSequence;
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buildPlanToDeviceTask();
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fireEvent(AgvEventType.PLAN_ACCEPT, this);
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connectorThread.resumeProcessing();
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}
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public synchronized void pauseTask() {
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if (planTaskSequence == null) {
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throw new IllegalStateException("No active task to pause");
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}
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isPaused = true;
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lastPausedPosition = new PosDirection(logicX, logicY, direction);
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// 发送停止指令
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RcsSRMessage stopMsg = new RcsSRMessage(this.runtime);
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stopMsg.SeqNo = amrMessageHandler.getNewSeqNo();
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stopMsg.OperationCode = 0; // 停止
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stopMsg.StopX = logicX;
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stopMsg.StopY = logicY;
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try {
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amrMessageHandler.sendCmdSR(this.getId(), stopMsg);
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} catch (Exception e) {
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log.error("Failed to send stop command to AGV {}", this.getId(), e);
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}
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fireEvent(AgvEventType.PLAN_PAUSE, this);
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}
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public synchronized void resumeTask() {
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if (!isPaused) {
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throw new IllegalStateException("Task is not paused");
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}
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// 检查当前位置是否与暂停位置一致
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if (Math.abs(logicX - lastPausedPosition.logicX()) > 1 ||
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Math.abs(logicY - lastPausedPosition.logicY()) > 1 ||
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direction != lastPausedPosition.direction()) {
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// 需要返回暂停位置
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throw new RuntimeException("AGV position has changed since pause, cannot resume task safely");
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}
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isPaused = false;
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connectorThread.resumeProcessing();
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fireEvent(AgvEventType.PLAN_RESUME, this);
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}
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@SneakyThrows
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public synchronized void cancelTask() {
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if (planTaskSequence == null) {
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throw new IllegalStateException("No active task to cancel");
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}
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// 发送取消指令
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amrMessageHandler.sendCmdCancelTask(this.getId(), this.connectorThread.getCurrentTaskSeqNo());
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planTaskSequence = null;
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deviceTaskQueue.clear();
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fireEvent(AgvEventType.PLAN_CANCEL, this);
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}
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@SneakyThrows
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public void setPositionAndDirection(int x, int y, short direction) {
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RcsSetLocationMessage setLoc = new RcsSetLocationMessage(amrMessageHandler.getNewSeqNo());
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setLoc.X = (short) x;
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setLoc.Y = (short) y;
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setLoc.Direction = direction;
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amrMessageHandler.sendCmdSetLocation(this.getId(), setLoc);
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}
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public void setControlMode(ControlMode mode) {
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// 硬件控制模式设置逻辑
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this.isManualMode = (mode == ControlMode.MANUAL);
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if (mode != ControlMode.FULL_AUTO && planTaskSequence != null) {
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cancelTask();
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}
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// 更新Redis状态
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updateRedisStatus();
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}
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@SneakyThrows
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public void requestCurrentStatus() {
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amrMessageHandler.sendCmdQueryStatus(this.getId());
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}
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public boolean isFree() {
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// return (this.logisticsRuntime.isRunning() && this.deviceTaskQueue.isEmpty() && this.connectorThread.isRunning());
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if (!this.runtime.isRunning()) {
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return false;
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}
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if (planTaskSequence != null && !planTaskSequence.isAllCompleted()) {
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return false;
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}
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if (!deviceTaskQueue.isEmpty()) {
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return false;
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}
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if (this.isPaused) {
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return false;
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}
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return true;
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}
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public void updatePosition(int logicX, int logicY, short direction) {
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int oldX = this.logicX;
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int oldY = this.logicY;
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short oldDirection = this.direction;
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this.logicX = logicX;
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this.logicY = logicY;
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this.direction = direction;
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// 更新Redis
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updateRedisStatus();
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// 触发位置变化事件
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if (oldX != logicX || oldY != logicY) {
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fireEvent(AgvEventType.POS_CHANGED, this,
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new PosDirection(oldX, oldY, oldDirection),
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new PosDirection(logicX, logicY, direction));
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}
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if (oldDirection != direction) {
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fireEvent(AgvEventType.DIRECTION_CHANGED, this,
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oldDirection, direction);
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}
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boolean needCompute = false;
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// 从 runningDeviceTaskList 里面，找到完成到什么阶段
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// 比如 (1,2) -> (2,2) -> (3,2) , 如果 updatePosition=3,2 ，那么前2个任务都要完成
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int finishTargetIndex = -1;
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if (this.runningDeviceTaskList != null && !this.runningDeviceTaskList.isEmpty() &&
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this.planTaskSequence != null && !this.planTaskSequence.isEmpty()) {
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for (int i = 0; i < runningDeviceTaskList.size(); i++) {
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PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
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if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
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finishTargetIndex = i;
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break;
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}
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}
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if (finishTargetIndex >= 0) {
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needCompute = true;
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// 标记前面的任务都完成了
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for (int i = 0; i <= finishTargetIndex; i++) {
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PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
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task.taskStatus = 4; // 标记为完成
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task.taskGroupStatus = 4; // 标记为任务组完成
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fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);
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// 更新计划任务
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RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.planTaskId);
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if (planTask != null) {
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planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
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planTaskSequence.savePlanTask(planTask);
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}
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}
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if (planTaskSequence.isAllCompleted()) {
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fireEvent(AgvEventType.PLAN_COMPLETE, this);
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planTaskSequence = null;
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}
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}
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}
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BannerUtils.printConfig(log, "updatePosition", new String[]{
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"logicX: " + logicX,
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"logicY: " + logicY,
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"direction: " + direction,
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"finishTargetIndex: " + finishTargetIndex,
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"runningDeviceSize:" + (this.runningDeviceTaskList == null ? "null" : this.runningDeviceTaskList.size()),
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"planTask:" + (this.planTaskSequence == null ? "null" :
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("\n" + Joiner.on("\n").join((List) this.planTaskSequence.toPrettyMap().get("items")))
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)
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});
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if (needCompute) {
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LockSupport.unpark(connectorThread);
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}
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}
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/**
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* 更新设备任务状态 暂时没有处理任务取消相关的状态
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*
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* @param seqNo
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* @param x
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* @param y
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* @param messageStatus
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*/
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public void updateDeviceTaskStatus(int seqNo, int x, int y, int messageStatus) {
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// 更新任务状态逻辑
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if (messageStatus < 2) {
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return;
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}
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// 任务完成逻辑，在地标检查里
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}
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public void updateTaskMode(int taskMode) {
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}
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public void updateRedisStatus() {
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String statusKey = getRedisKey("status");
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Map<String, String> statusMap = new HashMap<>();
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statusMap.put("x", String.valueOf(x));
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statusMap.put("y", String.valueOf(y));
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statusMap.put("z", String.valueOf(z));
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statusMap.put("logicX", String.valueOf(logicX));
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statusMap.put("logicY", String.valueOf(logicY));
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statusMap.put("direction", String.valueOf(direction));
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statusMap.put("orientation", String.valueOf(orientation));
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statusMap.put("soc", this.battery == null ? "-1" : String.valueOf(this.battery.SOC));
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statusMap.put("mode", isManualMode ? "MANUAL" : "AUTO");
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statusMap.put("taskStatus", getTaskStatus());
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redis.hPutAll(statusKey, statusMap);
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redis.kExpire(statusKey, 10); // 10秒过期
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}
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public void handleHeartbeat(AmrHeartbeatMessage heartbeat) {
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// 更新在线状态
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String aliveKey = getRedisKey("alive");
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redis.vSet(aliveKey, "1");
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redis.kExpire(aliveKey, 5); // 5秒过期
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// 更新状态信息
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if (this.battery == null) {
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this.battery = new CurBatteryData();
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}
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this.battery.SOC = heartbeat.Battery;
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this.battery.setTemperature(heartbeat.Temperature.Battery);
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// 检查低电量
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if (this.battery.SOC < 20) {
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fireEvent(AgvEventType.LOW_BATTERY, this);
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}
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updateRedisStatus();
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}
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private void handleOnlineEvent() {
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isOnline = true;
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fireEvent(AgvEventType.ONLINE, this);
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requestCurrentStatus();
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}
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private void handleOfflineEvent() {
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isOnline = false;
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fireEvent(AgvEventType.OFFLINE, this);
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}
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// 事件监听管理
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public void addEventListener(AgvEventListener listener) {
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eventListeners.add(listener);
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}
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public void removeEventListener(AgvEventListener listener) {
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eventListeners.remove(listener);
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}
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private void fireEvent(AgvEventType type, Object... args) {
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for (AgvEventListener listener : eventListeners) {
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listener.onEvent(type, args);
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}
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}
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private String getTaskStatus() {
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if (planTaskSequence == null) return "IDLE";
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if (isPaused) return "PAUSED";
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return "EXECUTING";
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}
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/**
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* 启动连接器线程
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*/
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public void startConnector() {
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if (!connectorThread.isRunning()) {
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connectorThread.start();
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System.out.println("Connector started for executor: " + this.getId());
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}
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}
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/**
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* 停止连接器线程
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*/
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public void stopConnector() {
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connectorThread.stop();
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System.out.println("Connector stopped for executor: " + this.getId());
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}
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private static final int speed = 1000;
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/**
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* 添加任务序列到当前执行器
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*/
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protected void buildPlanToDeviceTask() {
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PlanTaskSequence sequence = this.planTaskSequence;
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LogisticsRuntime runtime = sequence.logisticsRuntime;
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short direction = this.direction;
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// 获取当前设备点位(逻辑点位)
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StaticItem startPoint = runtime.getStaticItemByLogicXY(this.logicX, this.logicY);
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if (startPoint == null) {
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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());
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}
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// 生成移动报文
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List<PtrAgvDeviceTask> deviceTaskList = new ArrayList<>();
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List<Map<String, Object>> linkStore = null;
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// 检查 planList 是不是全都是我的任务
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for (RcsTaskPlan plan : sequence.taskList) {
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String endPointId = plan.getTargetId();
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if (plan.getPlanType().equals(PlanTaskType.MOVE.toString()) || plan.getPlanType().equals(PlanTaskType.MOVE_BACKWARD.toString())) {
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// 获取目标点信息
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StaticItem pointItem = runtime.getStaticItemById(endPointId);
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linkStore = (List<Map<String, Object>>) pointItem.dt.get("linkStore");
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int d = -1;
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if (startPoint.logicX == pointItem.logicX && startPoint.logicY != pointItem.logicY) {
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d = pointItem.logicY > startPoint.logicY ? CDirection.db : CDirection.dt;
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if ((d > direction && d - CDirection.dl != direction) || (d < direction && d + CDirection.dl != direction)) {
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throw new RuntimeException("方向错误");
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}
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} else if (startPoint.logicY == pointItem.logicY && startPoint.logicX != pointItem.logicX) {
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d = pointItem.logicX > startPoint.logicX ? CDirection.dr : CDirection.dl;
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if ((d > direction && d - CDirection.dl != direction) || (d < direction && d + CDirection.dl != direction)) {
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throw new RuntimeException("方向错误");
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}
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// distance += Math.abs(pointItem.getTransformationX() - startPoint.getTransformationX());
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} else {
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throw new RuntimeException("无法识别的点位关系");
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}
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PtrAgvDeviceTask deviceTask = new PtrAgvDeviceTask();
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deviceTask.x = pointItem.logicX;
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deviceTask.y = pointItem.logicY;
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deviceTask.speed = d == direction ? (speed) : (-speed);
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deviceTask.direction = direction;
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deviceTask.pickMode = 0;
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deviceTask.startPoint = startPoint;
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deviceTask.endPoint = pointItem;
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deviceTask.bizTaskId = plan.getBizTaskId();
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deviceTask.planTaskId = plan.getPlanTaskId();
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// 行走任务完成后，检查用的字段
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deviceTask.checkLogicX = pointItem.logicX;
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deviceTask.checkLogicY = pointItem.logicY;
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deviceTaskList.add(deviceTask);
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// 设置新的起点
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startPoint = pointItem;
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} else if (plan.getPlanType().equals(PlanTaskType.ROTATION.toString())) {
|
|
|
|
float r = plan.getTargetRotation().floatValue();
|
|
while (r > 360) {
|
|
r -= 360;
|
|
}
|
|
while (r < 0) {
|
|
r += 360;
|
|
}
|
|
|
|
if (r >= 315 || r < 45) {
|
|
direction = CDirection.dr;
|
|
|
|
} else if (r >= 45 && r < 135) {
|
|
direction = CDirection.dt;
|
|
|
|
} else if (r >= 135 && r < 225) {
|
|
direction = CDirection.dl;
|
|
|
|
} else if (r >= 225 && r < 315) {
|
|
direction = CDirection.db;
|
|
}
|
|
|
|
} else if (plan.getPlanType().equals(PlanTaskType.LOAD.toString())) {
|
|
|
|
PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
|
|
deviceTask.operationType = COperationType.transplantLoadAndUnload;
|
|
deviceTask.pickMode = CPickMode.load;
|
|
//处理取货高度
|
|
StaticItem storeItem = runtime.getStaticItemById(endPointId);
|
|
Map<String, Object> storeItemRaw = storeItem.dt;
|
|
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("levelHeight");
|
|
deviceTask.goodsSlotHeight = (int) Math.round(levelHeight.get(plan.getTargetLevel()) * 1000);
|
|
} else {
|
|
deviceTask.goodsSlotHeight = 1;
|
|
}
|
|
if (linkStore != null) {
|
|
for (Map<String, Object> store : linkStore) {
|
|
if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) {
|
|
short d = 0;
|
|
switch (store.get("direction").toString()) {
|
|
case "up":
|
|
d = 1;
|
|
break;
|
|
case "right":
|
|
d = 2;
|
|
break;
|
|
case "down":
|
|
d = 3;
|
|
break;
|
|
case "left":
|
|
d = 0;
|
|
break;
|
|
}
|
|
deviceTask.goodsSlotDirection = d;
|
|
}
|
|
}
|
|
}
|
|
|
|
} else if (plan.getPlanType().equals(PlanTaskType.UNLOAD.toString())) {
|
|
PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
|
|
deviceTask.operationType = COperationType.transplantLoadAndUnload;
|
|
deviceTask.pickMode = CPickMode.unload;
|
|
// 处理卸货高度
|
|
StaticItem storeItem = runtime.getStaticItemById(endPointId);
|
|
Map<String, Object> storeItemRaw = storeItem.dt;
|
|
if (storeItemRaw.containsKey("bays") && storeItemRaw.containsKey("level")) {
|
|
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");
|
|
deviceTask.goodsSlotHeight = (int) Math.round(levelHeight.get(plan.getTargetLevel()) * 1000);
|
|
} else {
|
|
deviceTask.goodsSlotHeight = 1;
|
|
}
|
|
if (linkStore != null) {
|
|
for (Map<String, Object> store : linkStore) {
|
|
if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) {
|
|
short d = 0;
|
|
switch (store.get("direction").toString()) {
|
|
case "up":
|
|
d = 1;
|
|
break;
|
|
case "right":
|
|
d = 2;
|
|
break;
|
|
case "down":
|
|
d = 3;
|
|
break;
|
|
case "left":
|
|
d = 0;
|
|
break;
|
|
}
|
|
deviceTask.goodsSlotDirection = d;
|
|
}
|
|
}
|
|
}
|
|
|
|
} else if (plan.getPlanType().equals(PlanTaskType.CHARGE.toString())) {
|
|
PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1);
|
|
deviceTask.operationType = COperationType.charge;
|
|
// 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)
|
|
}
|
|
|
|
if (!plan.getExecutorId().equals(this.getId())) {
|
|
throw new RuntimeException("plan not belong executor:" + this.getId() + ", " + plan.getExecutorId());
|
|
}
|
|
|
|
}
|
|
// 添加结束任务
|
|
PtrAgvDeviceTask deviceTaskEnd = new PtrAgvDeviceTask();
|
|
deviceTaskEnd.isLastTask = true;
|
|
deviceTaskList.add(deviceTaskEnd);
|
|
|
|
// planQueue.addAll(sequence.taskList);
|
|
deviceTaskQueue.addAll(deviceTaskList);
|
|
|
|
String json = JsonWrapper.toJson(deviceTaskList);
|
|
log.info("deviceTaskList: {}", json);
|
|
|
|
// TODO: 开启轮询线程，等待下一个待执行任务
|
|
}
|
|
|
|
public boolean isSamePosition(PosDirection startPos) {
|
|
return this.logicX == startPos.logicX() && this.logicY == startPos.logicY() && this.direction == startPos.direction();
|
|
}
|
|
|
|
private static class CDirection {
|
|
private static final short dr = 0;
|
|
private static final short db = 1;
|
|
private static final short dl = 2;
|
|
private static final short dt = 3;
|
|
}
|
|
|
|
|
|
private static class COperationType {
|
|
public static final short move = 0;
|
|
public static final short load = 1;
|
|
public static final short unpick = 2;
|
|
public static final short charge = 3;
|
|
public static final short transplantLoadAndUnload = 4;
|
|
public static final short rollerLoadAndUnload = 5;
|
|
}
|
|
|
|
private static class CPickMode {
|
|
public static final short normal = 0;
|
|
public static final short load = 1;
|
|
public static final short unload = 2;
|
|
public static final short adjustHeight = 3;
|
|
public static final short adjustHeightToLoad = 5;
|
|
public static final short adjustHeightToUnload = 6;
|
|
}
|
|
|
|
|
|
/**
|
|
* 从 AMR 方向转换为 LCC 方向枚举
|
|
*
|
|
* @return
|
|
*/
|
|
public LCCDirection getLCCDirection() {
|
|
return switch (direction) {
|
|
case 0 -> LCCDirection.RIGHT;
|
|
case 1 -> LCCDirection.DOWN;
|
|
case 2 -> LCCDirection.LEFT;
|
|
case 3 -> LCCDirection.UP;
|
|
default -> null;
|
|
};
|
|
}
|
|
|
|
public short getAmrDirection(LCCDirection lccDirection) {
|
|
return switch (lccDirection) {
|
|
case RIGHT -> 0;
|
|
case DOWN -> 1;
|
|
case LEFT -> 2;
|
|
case UP -> 3;
|
|
default -> -1; // 未知方向
|
|
};
|
|
}
|
|
|
|
private String getRedisKey(String type) {
|
|
return String.format("lcc:%s:%s:rcs:%s_%s",
|
|
runtime.projectUUID, runtime.envId, type, this.getId());
|
|
}
|
|
}
|
|
|