You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
377 lines
14 KiB
377 lines
14 KiB
package com.yvan.logisticsModel;
|
|
|
|
import com.fasterxml.jackson.annotation.JsonIgnore;
|
|
import com.galaxis.rcs.common.entity.RcsTaskPlan;
|
|
import com.galaxis.rcs.common.enums.LCCDirection;
|
|
import com.galaxis.rcs.common.enums.PlanTaskType;
|
|
import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
|
|
import com.galaxis.rcs.plan.PlanTaskSequence;
|
|
import com.google.common.collect.Queues;
|
|
import lombok.extern.slf4j.Slf4j;
|
|
import org.clever.core.Conv;
|
|
import org.clever.core.json.JsonWrapper;
|
|
|
|
import java.util.ArrayList;
|
|
import java.util.List;
|
|
import java.util.Map;
|
|
import java.util.concurrent.BlockingQueue;
|
|
import java.util.concurrent.locks.LockSupport;
|
|
|
|
//0.4m/ss // a max 1.2m/s
|
|
//90 = 3.5s cl2
|
|
//90 = 5s // cLX
|
|
@Slf4j
|
|
public class PtrAgvItem extends ExecutorItem {
|
|
private final int BLOCKING_QUEUE_CAPACITY = 100;
|
|
|
|
private final Cl2DeviceConnector cl2DeviceConnector = new Cl2DeviceConnector();
|
|
|
|
// ip
|
|
public String ip;
|
|
// agv名称
|
|
public String agvName;
|
|
// agv类型
|
|
public String agvType;
|
|
// agv型号
|
|
public String agvModel;
|
|
// AMR功能型号
|
|
public String agvFnModel;
|
|
// agv电量
|
|
public double agvSOC;
|
|
// agv电池电压
|
|
public double agvBatteryVoltage;
|
|
// agv充电状态
|
|
public boolean agvChargingStatus;
|
|
// agv充电电流
|
|
public double agvChargingCurrent;
|
|
// agv放电电流
|
|
public double agvDischargingCurrent;
|
|
// agv电池温度
|
|
public double agvBatteryTemperature;
|
|
// agv当前x坐标
|
|
public double x;
|
|
// agv当前y坐标
|
|
public double y;
|
|
// agv当前z坐标
|
|
public double z;
|
|
// 当前所在站点的逻辑X坐标 Int32
|
|
public int logicX;
|
|
// 当前所在站点的逻辑Y坐标 Int32
|
|
public int logicY;
|
|
// 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 direction;
|
|
// agv当前转动角度值
|
|
public double orientation;
|
|
|
|
public LCCDirection getLCCDirection() {
|
|
return switch (direction) {
|
|
case 0 -> LCCDirection.RIGHT;
|
|
case 1 -> LCCDirection.DOWN;
|
|
case 2 -> LCCDirection.LEFT;
|
|
case 3 -> LCCDirection.UP;
|
|
default -> null;
|
|
};
|
|
}
|
|
|
|
// 执行中的任务
|
|
@JsonIgnore
|
|
public List<PtrAgvDeviceTask> runningDeviceTaskList = new ArrayList<>();
|
|
|
|
/**
|
|
* 当前执行的任务规划列表
|
|
*/
|
|
@JsonIgnore
|
|
final BlockingQueue<RcsTaskPlan> planQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);
|
|
|
|
@JsonIgnore
|
|
final BlockingQueue<PtrAgvDeviceTask> deviceTaskQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);
|
|
|
|
|
|
/**
|
|
* 连接器线程
|
|
*/
|
|
private final PtrAgvConnectorThread connectorThread;
|
|
|
|
/**
|
|
* 更新设备任务状态 暂时没有处理任务取消相关的状态
|
|
*
|
|
* @param seqNo
|
|
* @param x
|
|
* @param y
|
|
* @param messageStatus
|
|
*/
|
|
public void updateDeviceTaskStatus(int seqNo, int x, int y, int messageStatus) {
|
|
|
|
if (messageStatus < 2) {
|
|
return;
|
|
}
|
|
|
|
boolean needCompute = true;
|
|
for (PtrAgvDeviceTask task : runningDeviceTaskList) {
|
|
if (task.seqNo == seqNo) {
|
|
task.taskGroupStatus = messageStatus;
|
|
if (task.x == x && task.y == y) {
|
|
task.taskStatus = 4;
|
|
}
|
|
}
|
|
if (task.taskGroupStatus < 3 /*|| task.taskStatus < 4*/) {
|
|
needCompute = false;
|
|
}
|
|
}
|
|
if (needCompute) {
|
|
LockSupport.unpark(connectorThread);
|
|
}
|
|
}
|
|
|
|
|
|
public void mapReady() {
|
|
this.isMapReady = true;
|
|
this.startConnector();
|
|
}
|
|
|
|
|
|
/**
|
|
* 启动连接器线程
|
|
*/
|
|
public void startConnector() {
|
|
if (!connectorThread.isRunning()) {
|
|
connectorThread.start();
|
|
System.out.println("Connector started for executor: " + this.getId());
|
|
}
|
|
}
|
|
|
|
/**
|
|
* 停止连接器线程
|
|
*/
|
|
public void stopConnector() {
|
|
connectorThread.stop();
|
|
System.out.println("Connector stopped for executor: " + this.getId());
|
|
}
|
|
|
|
private static final int speed = 1000;
|
|
|
|
/**
|
|
* 添加任务序列到当前执行器
|
|
*/
|
|
public void appendSequence(PlanTaskSequence sequence) {
|
|
if (sequence == null || sequence.taskList.isEmpty()) {
|
|
return;
|
|
}
|
|
LogisticsRuntime runtime = sequence.logisticsRuntime;
|
|
|
|
|
|
short direction = this.direction;
|
|
|
|
// 获取当前设备点位(逻辑点位)
|
|
StaticItem startPoint = runtime.getStaticItemByLogicXY(this.logicX, this.logicY);
|
|
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());
|
|
}
|
|
|
|
|
|
// 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) {
|
|
String endPointId = plan.getTargetId();
|
|
|
|
if (plan.getPlanType().equals(PlanTaskType.MOVE.toString()) || plan.getPlanType().equals(PlanTaskType.MOVE_BACKWARD.toString())) {
|
|
// 获取目标点信息
|
|
StaticItem pointItem = runtime.getStaticItemById(endPointId);
|
|
linkStore = (List<Map<String, Object>>) pointItem.dt.get("linkStore");
|
|
int d = -1;
|
|
if (startPoint.logicX == pointItem.logicX && startPoint.logicY != pointItem.logicY) {
|
|
d = pointItem.logicY > startPoint.logicY ? CDirection.db : CDirection.dt;
|
|
if ((d > direction && d - CDirection.dl != direction) || (d < direction && d + CDirection.dl != direction)) {
|
|
throw new RuntimeException("方向错误");
|
|
}
|
|
|
|
} else if (startPoint.logicY == pointItem.logicY && startPoint.logicX != pointItem.logicX) {
|
|
d = pointItem.logicX > startPoint.logicX ? CDirection.dr : CDirection.dl;
|
|
if ((d > direction && d - CDirection.dl != direction) || (d < direction && d + CDirection.dl != direction)) {
|
|
throw new RuntimeException("方向错误");
|
|
}
|
|
// distance += Math.abs(pointItem.getTransformationX() - startPoint.getTransformationX());
|
|
|
|
} else {
|
|
throw new RuntimeException("无法识别的点位关系");
|
|
}
|
|
PtrAgvDeviceTask deviceTask = new PtrAgvDeviceTask();
|
|
deviceTask.x = pointItem.logicX;
|
|
deviceTask.y = pointItem.logicY;
|
|
deviceTask.speed = d == direction ? (speed) : (-speed);
|
|
deviceTask.direction = direction;
|
|
deviceTask.pickMode = 0;
|
|
deviceTask.startPoint = startPoint;
|
|
deviceTask.endPoint = pointItem;
|
|
deviceTask.bizTaskId = plan.getBizTaskId();
|
|
deviceTask.planTaskId = plan.getPlanTaskId();
|
|
deviceTaskList.add(deviceTask);
|
|
// 设置新的起点
|
|
startPoint = pointItem;
|
|
|
|
} 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 isFree() {
|
|
return (this.logisticsRuntime.isRunning() && this.deviceTaskQueue.isEmpty() && this.connectorThread.isRunning());
|
|
}
|
|
|
|
public PtrAgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
|
|
super(logisticsRuntime, raw);
|
|
this.connectorThread = new PtrAgvConnectorThread(this, this.cl2DeviceConnector, logisticsRuntime);
|
|
}
|
|
|
|
|
|
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;
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|