#

vincentlu

2025-12-29 04c4a9bdc5c4bccd05fb0092bdb4552af2d09bb1

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -2,19 +2,19 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.domain.BaseResult;
import com.zy.acs.common.domain.protocol.AGV_11_UP;
import com.zy.acs.common.domain.protocol.AGV_70_UP;
import com.zy.acs.common.domain.protocol.IMessageBody;
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.AgvBackpackType;
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.AgvSpeedType;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -49,6 +49,8 @@
@Slf4j
@Service("mainService")
public class MainService {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private BusService busService;
@@ -177,29 +179,15 @@
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
                    }

                    // reserver station inbound, qty: 1
                    destSta = staService.getById(task.getDestSta());
                    if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to reserve");
                    }
//                    if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
//                        throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
//                    }
//                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
//                    destSta.setUpdateTime(now);
//                    if (!staService.updateById(destSta)) {
//                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update");
//                    }
                    break;
                case STA_TO_LOC:
                    oriSta = staService.getById(task.getOriSta());
                    if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
                    if (!staService.updateById(oriSta)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update");
                    if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to reserve");
                    }

                    destLoc = locService.getById(task.getDestLoc());
@@ -214,23 +202,13 @@
                    break;
                case STA_TO_STA:
                    oriSta = staService.getById(task.getOriSta());
                    if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
                    if (!staService.updateById(oriSta)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update");
                    if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to reserve");
                    }

                    destSta = staService.getById(task.getDestSta());
                    if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
                    destSta.setUpdateTime(now);
                    if (!staService.updateById(destSta)) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update");
                    if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to reserve");
                    }
                    break;
                default:
@@ -1483,6 +1461,26 @@
            }
        }

        // 取放货请求包
        if (msgBody instanceof AGV_06_UP) {
            AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;

            log.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));

            // query current segment
            Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), agv_06_up.getQrCode());


            // todo:vincent 校验是否可以取放货

            AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
            agv_06_down.setSerialNo(agv_06_up.getSerialNo());
            agv_06_down.setActionCode(agv_06_up.getActionCode());
            agv_06_down.setResult(1);

            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }

        // 料仓信息包
        if (msgBody instanceof AGV_70_UP) {
            AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;
@@ -1530,7 +1528,7 @@
            }

            if (taskComplete) {
                locService.taskCallBack(task);
//                locService.taskCallBack(task);

                task.setTaskSts(TaskStsType.COMPLETE.val());
                task.setEndTime(now);
@@ -1538,6 +1536,7 @@
                if (!taskService.updateById(task)) {
                    log.error("Task [{}] 更新失败 ！！！", task.getSeqNum());
                } else {
                    taskService.maintainLocAndSta(task);
                    log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum());
                }