Scheduler/agvtask/agvtasks.py

import httpx
from apscheduler.schedulers.asyncio import AsyncIOScheduler
from pytz import timezone
import time
from conf import setting
from helper.logger import logger
from datetime import datetime
import json
from models.assignment import Assignment
from models.warehouse import Vacancy, Hole
import os
import codecs
scheduler = AsyncIOScheduler(timezone=timezone('Asia/Shanghai'))


async def findNewShelfVacancy(cmdStdl = [], cmdStd = []):
    #find new Vacancy
    qs1 = await Vacancy.filter(is_shelf = True, is_valid = True, is_active = True)
    if len(qs1) > 0:
        print("find new Vacancy: ", qs1)
        vacancy = qs1[0]
        #generate destination with respond to task
        cmdStdl.append({vacancy.number: cmdStd})
        #update vacancy
        vacancy.is_valid = False
        vacancy.orderids = [ cmdStd["orderid"] ]
        await vacancy.save()

        hole = await Hole.create(
            number = 1,
            orderid = cmdStd["orderid"],
            coordinates = cmdStd["coordinates"]
        )

        vacancy.holes.add(hole)

    else:
        raise Exception("Shelf vacancy is not enough!")


async def findNewConnectionVacancy(cmdStdl = [], cmdStd = []):
    #find new Vacancy
    qs1 = await Vacancy.filter(is_connect = True, is_valid = True, is_active = True)
    if len(qs1) > 0:
        print("find new Vacancy: ", qs1)
        vacancy = qs1[0]
        #generate destination with respond to task
        cmdStdl.append({vacancy.number: cmdStd})
        #update vacancy
        vacancy.is_valid = False
        vacancy.orderids = [ cmdStd["orderid"] ]
        await vacancy.save()

        hole = await Hole.create(
            number = 1,
            orderid = cmdStd["orderid"],
            coordinates = cmdStd["coordinates"]
        )

        vacancy.holes.add(hole)

    else:
        raise Exception("Connection vacancy is not enough!")

async def genCMD(assignment, cmdStdList, cmdNonStdList):

    cmdStdl = []
    cmdNonStdl = []

    for cmdStd in cmdStdList:
   
        if 1 == cmdStd["action"]:
            #1: 归还
            cmdStdl.append({"Return": cmdStd})
        elif 3 == cmdStd["action"]:
            #3: 预约领用
            
            qs = await Vacancy.filter(
                orderids__contains=[ cmdStd["orderid"] ],
                is_shelf = True, 
                is_valid = False, 
                is_active = True
            )

            if len(qs) > 0:
                vacancy = qs[0]
                #need to add deal with hole in tray logic

            else:
                findNewShelfVacancy(cmdStdl, cmdStd)


        elif 5 == cmdStd["action"]:
            #5: 现场领用
            #need to add deal with hole in tray logic
            
            qs = await Vacancy.filter(
                orderids__contains=[ cmdStd["orderid"] ],
                is_connect = True, 
                is_valid = False, 
                is_active = True
            )

            if len(qs) > 0:
                vacancy = qs[0]
                #need to add deal with hole in tray logic

            else:
                findNewConnectionVacancy(cmdStdl, cmdStd)

            # qs1 = await Vacancy.filter(is_connect = True, is_valid = True, is_active = True)
            # if len(qs1) > 0:
            #     print("find new Vacancy: ", qs1)
            #     vacancy = qs1[0]
            #     #generate destination with respond to task
            #     cmdStdl.append({vacancy.number: cmdStd})
            #     #update vacancy
            #     vacancy.is_valid = False
            #     vacancy.orderids = [ cmdStd["orderid"] ]
            #     await vacancy.save()
            # else:
            #     raise Exception("Connection vacancy is not enough!")

    for cmdNonStd in cmdNonStdList:

        if 1 == cmdNonStd["action"]:
            #1: 归还
            # cmdNonStdl.append({"Return": cmdNonStd})

            #where to return after usage
            # to shelf or stay in connection !!!
            

            #check if next assignment will use this tray
            assignmentNext = await Assignment.filter(
                    is_canceled = False,
                    is_processing = False,
                    is_failed = False,
                    is_done = False,
                    is_valid = True, 
                    is_active = True
                ).first()

            if assignmentNext:
                subtasksNext = await assignmentNext.subtasks.all()

                for subtaskNext in subtasksNext:
                    if 9 == subtaskNext.typetask:
                        qs4 = await Vacancy.filter(is_connect = True, is_valid = False, is_active = True, traynum=[subtaskNext.traynum])
                        if len(qs4) > 0:
                            print("connection area tray num {}, is used in next assignment {}, don't need to move ".format(subtaskNext.traynum, assignmentNext.id))
                            cmdStdl.insert(0, {"Skip": cmdNonStd})
                            return
                        
            #check if the tray in Schelve
            qs5 = await Vacancy.filter(is_shelf = True, is_valid = False, is_active = True, traynum=[cmdNonStd["traynum"]])
            if len(qs5) > 0:
                vacancy = qs5[0]
                if vacancy.orderids and len(vacancy) > 0:
                    # update destination to Schelve vacancy
                    cmdNonStd["coordinates"] = vacancy.number
                    # insert into beginning of the list
                    cmdStdl.insert(0, {"Return": cmdNonStd})
                    return
                
            # normal return process
            cmdStdl.append({"Return": cmdNonStd})
        elif 3 == cmdNonStd["action"]:
            #3: 预约领用
            qs1 = await Vacancy.filter(is_shelf = True, is_valid = True, is_active = True)
            if len(qs1) > 0:
                vacancy = qs1[0]

                #check if tray already at Vacancy
                qs3 = await Vacancy.filter(is_valid = False, is_active = True, traynum=[cmdNonStd["traynum"]])
                if len(qs3) > 0:
                    vacancy3 = qs3[0]
                    #if exist then change destination to corresponding vacancy
                    cmdNonStd["coordinates"] = vacancy3.number
                    #update vacancy
                    orderids = vacancy3.orderids
                    if not orderids:
                        orderids = [ cmdNonStd["orderid"] ]
                    else:
                        orderids.append(cmdNonStd["orderid"])

                    vacancy3.is_valid = False
                    vacancy3.orderids = orderids
                    await vacancy3.save()

                #generate destination with respond to task
                # cmdNonStdl.append({vacancy.number: cmdNonStd})
                cmdStdl.append({vacancy.number: cmdNonStd})
                #update vacancy
                orderids = vacancy.orderids
                if not orderids:
                    orderids = [ cmdNonStd["orderid"] ]
                else:
                    orderids.append(cmdNonStd["orderid"])

                vacancy.is_valid = False
                vacancy.traynum = cmdNonStd["traynum"]
                vacancy.orderids = orderids
                await vacancy.save()
            else:
                raise Exception("Shelf vacancy is not enough!")

        elif 5 == cmdNonStd["action"]:
            #5: 现场领用
            qs1 = await Vacancy.filter(is_connect = True, is_valid = True, is_active = True)
            if len(qs1) > 0:
                vacancy = qs1[0]

                #check if tray already at Vacancy
                qs3 = await Vacancy.filter(is_valid = False, is_active = True, traynum=[cmdNonStd["traynum"]])
                if len(qs3) > 0:
                    vacancy3 = qs3[0]
                    #if exist then change destination to corresponding vacancy
                    cmdNonStd["coordinates"] = vacancy3.number
                    #update vacancy
                    orderids = vacancy3.orderids

                    if orderids and len(orderids) > 0:
                        lstSet = set(orderids)
                        lstSet.discard( cmdNonStd["orderid"] )
                        # Converting set back to list
                        orderids=list(lstSet)
                    else:
                        orderids = []

                    if len(orderids) > 0:
                        vacancy3.is_valid = False
                    else:
                        vacancy3.is_valid = True

                    vacancy3.orderids = orderids
                    await vacancy3.save()

                #generate destination with respond to task
                # cmdNonStdl.append({vacancy.number: cmdNonStd})
                # #update vacancy
                # orderids = vacancy.orderids
                # if not orderids:
                #     orderids = [ cmdNonStd["orderid"] ]
                # else:
                #     orderids.append(cmdNonStd["orderid"])

                # vacancy.is_valid = False
                # vacancy.traynum = cmdNonStd["traynum"]
                # # vacancy.orderids = orderids
                # await vacancy.save()

                cmdStdl.append({vacancy.number: cmdNonStd})

            else:
                raise Exception("Connect vacancy is not enough!")


    assignment.cmd = cmdStdl + cmdNonStdl
    await assignment.save()

async def agv_asign_job():
    print("Working ", "{}".format(datetime.now()))

    # assignments = await Assignment.filter(is_canceled = False, is_valid = True, is_active = True)
    assignments = await Assignment.filter(
        is_canceled = False,
        is_processing = False,
        is_failed = False,
        is_done = False,
        is_valid = True, 
        is_active = True
    )

    path = "agvtask/testdata/test-{}.json".format(datetime.now().strftime("%Y-%m-%d_%H_%M_%S"))
    
    assignmentsL = []

    for assignment in assignments:
        owner = await assignment.owner
        subtasks = await assignment.subtasks.all()
        assignmentJ = assignment.as_json()

        subtasksL = []
        cmdStdList = []
        cmdNonStdList = []

        for subtask in subtasks:
            if 1 == subtask.typetask \
                or 1 == subtask.typetask \
                or 3 == subtask.typetask \
                or 5 == subtask.typetask \
                or 7 == subtask.typetask:
                # for standard
                cmdStdList.append({
                    "orderid": subtask.orderid,
                    "name": subtask.name,
                    "typetask": subtask.typetask,
                    "action": subtask.action,
                    "quantity": subtask.quantity,
                    "coordinates": subtask.coordinates,
                    "traynum": subtask.traynum,
                })
            else:
                # for non standard
                cmdNonStdList.append({
                    "orderid": subtask.orderid,
                    "name": subtask.name,
                    "typetask": subtask.typetask,
                    "action": subtask.action,
                    "quantity": subtask.quantity,
                    "coordinates": subtask.coordinates,
                    "traynum": subtask.traynum,
                })

            subtasksL.append(subtask.as_json())

        assignment.is_processing = True
        await assignment.save()

        await genCMD(assignment, cmdStdList, cmdNonStdList)

        assignmentJ["owner"] = owner.as_json()
        assignmentJ["subtasks"] = subtasksL
        assignmentJ["cmd"] = assignment.cmd

        assignmentsL.append(assignmentJ)

    # print("assignment: ", assignmentJ)
    with open(path, "w", encoding="utf-8") as fp:
        json.dump(assignmentsL, fp, ensure_ascii=False)

async def start_scheduler():
    """ """
    second = 12000000
    logger.info(f"准备启动AGV小车任务派发定时任务, 间隔时间: {second}")
    scheduler.add_job(agv_asign_job, 'interval', seconds=int(second))

    # minute = 1
    # logger.info(f"准备启动AGV小车任务派发定时任务, 间隔时间: {minute}")
    # scheduler.add_job(agv_asign_job, 'interval', minutes=int(minute))
    # scheduler.add_job(agv_asign_job, 'cron', hour="8,20")
    scheduler.start()