111

zc

7 天以前 11d4e7383093190ee85d59d198f0e3b5ba428c91

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

@@ -18,6 +18,7 @@
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.domain.TaskDto;
@@ -28,10 +29,12 @@
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.HttpHandler;
import com.zy.acs.manager.manager.controller.param.LocSiteParams;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.manager.service.impl.LocStsServiceImpl;
import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
import com.zy.acs.manager.manager.utils.ActionSorter;
import com.zy.acs.manager.system.service.ConfigService;
@@ -104,6 +107,8 @@
    private TaskReportService taskReportService;
    @Autowired
    private AgvDurationService agvDurationService;
    @Autowired
    private LocStsService locStsService;

    @SuppressWarnings("all")
    @Transactional
@@ -205,11 +210,11 @@
                    break;
                case STA_TO_LOC:
                    oriSta = staService.getById(task.getOriSta());
                    if (oriSta.getStaTypeIsCheck() != 1) {
                        if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                            throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                        }
                    }
//                    if (oriSta.getStaTypeIsCheck() != 1) {
//                        if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
//                            throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
//                        }
//                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
                    if (!staService.updateById(oriSta)) {
@@ -770,7 +775,6 @@

                // 需要走行
                if (!lastCode.getData().equals(code.getData())) {

                    // 走行路径节点
//                    List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code);
                    List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
@@ -788,8 +792,16 @@
                        // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            nextDirection = workDirection;
                            reverse = true;
                            List<String> list = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054");
                            if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
                                    || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                    .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
                                reverse = false;
                                lastDirection = nextDirection;
                            } else {
                                nextDirection = workDirection;
                                reverse = true;
                            }
                        }

                        // 第二步：判断当前节点是否可以旋转
@@ -810,7 +822,52 @@
                                    nextDirection = lastDirection;
                                    reverse = true;
                                } else {
                                    if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                            .equals(TaskPosDto.PosType.ORI_STA) || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                            .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
                                        // turn
                                        reverse = false;
                                        actionList.add(new Action(
                                                null,    // 编号s
                                                task.getBusId(),    // 总线
                                                task.getId(),    // 任务
                                                null,    // 动作号
                                                null,    // 优先级
                                                ActionTypeType.TurnCorner.desc,    // 名称
                                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                                lastCode.getData(),    // 地面码
                                                String.valueOf(180),   // 动作参数
                                                ActionTypeType.TurnCorner.val(),    // 动作类型
                                                actionPrepareSts,    // 动作进度
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));
                                    } else {
                                        // turn
                                        actionList.add(new Action(
                                                null,    // 编号s
                                                task.getBusId(),    // 总线
                                                task.getId(),    // 任务
                                                null,    // 动作号
                                                null,    // 优先级
                                                ActionTypeType.TurnCorner.desc,    // 名称
                                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                                lastCode.getData(),    // 地面码
                                                String.valueOf(nextDirection),   // 动作参数
                                                ActionTypeType.TurnCorner.val(),    // 动作类型
                                                actionPrepareSts,    // 动作进度
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));
                                    }
                                    lastDirection = nextDirection;
                                }
                            } else {
                                if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                        .equals(TaskPosDto.PosType.ORI_STA) || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                        .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
                                    // turn
                                    reverse = false;
                                    actionList.add(new Action(
                                            null,    // 编号s
                                            task.getBusId(),    // 总线
@@ -820,20 +877,18 @@
                                            ActionTypeType.TurnCorner.desc,    // 名称
                                            mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                            lastCode.getData(),    // 地面码
                                            String.valueOf(nextDirection),   // 动作参数
                                            String.valueOf(180),   // 动作参数
                                            ActionTypeType.TurnCorner.val(),    // 动作类型
                                            actionPrepareSts,    // 动作进度
                                            agvId,    // AGV
                                            now    // 工作时间
                                    ));

                                    lastDirection = nextDirection;
                                }
                            }
                        }

                        // 第一个动作一定是 turn
                        if (actionList.isEmpty()) {
                        if (actionList.isEmpty() && lastCode.getCornerBool()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
@@ -879,31 +934,37 @@
                        lastCode = nextCode;

                    }

                }

                // 初始方向值补丁
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        // turn
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.TurnCorner.desc,    // 名称
                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(workDirection),   // 动作参数
                                ActionTypeType.TurnCorner.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));

                        lastDirection = workDirection;

                        Double turnDirection = workDirection;
                        List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
                        if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
                                || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
                            turnDirection = workDirection + 180.0;
                        }
                        if (lastCode.getCornerBool()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(turnDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            lastDirection = workDirection;
                        }
                    }
                    first = false;
                }
@@ -917,7 +978,8 @@
                        assert backpackType != null;
                        // 检验方向
                        if (!lastDirection.equals(workDirection)) {
                            throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            lastDirection = workDirection;
//                            throw new CoolException(agvNo agvNo+ "号小车方向错误，请推至转弯点手动调整");
                        }
                        // 货架取货
                        Loc oriLoc = locService.getById(task.getOriLoc());
@@ -1003,28 +1065,28 @@
                        Sta oriSta = staService.getById(task.getOriSta());
                        Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
                        // 检验方向
                        if (!lastDirection.equals(oriStaWorkDirection)) {
                            if (!lastCode.getCornerBool()) {
                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性값
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(oriStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            lastDirection = oriStaWorkDirection;
                        }
//                        if (!lastDirection.equals(oriStaWorkDirection)) {
//                            if (!lastCode.getCornerBool()) {
//                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
//                            }
//                            // turn
//                            actionList.add(new Action(
//                                    null,    // 编号
//                                    task.getBusId(),    // 总线
//                                    task.getId(),    // 任务
//                                    null,    // 动作号
//                                    null,    // 优先级
//                                    ActionTypeType.TurnCorner.desc,    // 名称
//                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性값
//                                    lastCode.getData(),    // 地面码
//                                    String.valueOf(oriStaWorkDirection),   // 动作参数
//                                    ActionTypeType.TurnCorner.val(),    // 动作类型
//                                    actionPrepareSts,    // 动作进度
//                                    agvId,    // AGV
//                                    now    // 工作时间
//                            ));
//                            lastDirection = oriStaWorkDirection;
//                        }
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
                        actionList.add(new Action(
@@ -1033,11 +1095,11 @@
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                ActionTypeType.ReadyTakeFromShelvesLoc.desc,    // 名称
                                Double.parseDouble("0"),    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(oriSta.getOffset()),   // 动作参数
                                ActionTypeType.ReadyTakeFromConveyorSta.val(),    // 动作类型
                                ActionTypeType.ReadyTakeFromShelvesLoc.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now,    // 工作时间
@@ -1066,29 +1128,47 @@
                        // 站点放货
                        Sta destSta = staService.getById(task.getDestSta());
                        Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
//                        CodeGap gap = codeGapService.findByCodeOfBoth(lastCode.getId(), nextCode.getId());

                        // 检验方向
                        if (!lastDirection.equals(destStaWorkDirection)) {
                            if (!lastCode.getCornerBool()) {
                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性값
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(destStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now   // 工作时间
                            ));
                            lastDirection = destStaWorkDirection;
                        }
//                        if (!lastDirection.equals(destStaWorkDirection)) {
//                            if (!lastCode.getCornerBool()) {
//                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
//                            }
//
//                            actionList.add(new Action(
//                                    null,    // 编号
//                                    task.getBusId(),    // 总线
//                                    task.getId(),    // 任务
//                                    null,    // 动作号
//                                    null,    // 优先级
//                                    actionType.desc,    // 名称
//                                    (double) agvSpeedType.val,    // 属性值
//                                    lastCode.getData(),    // 地面码
//                                    String.valueOf(gap.getDistance()),   // 动作参数
//                                    actionType.val(),    // 动作类型
//                                    actionPrepareSts,    // 动作进度
//                                    agvId,    // AGV
//                                    now    // 工作时间
//                            ));
//                            // turn
//                            actionList.add(new Action(
//                                    null,    // 编号
//                                    task.getBusId(),    // 总线
//                                    task.getId(),    // 任务
//                                    null,    // 动作号
//                                    null,    // 优先级
//                                    ActionTypeType.TurnCorner.desc,    // 名称
//                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性값
//                                    lastCode.getData(),    // 地面码
//                                    String.valueOf(destStaWorkDirection),   // 动作参数
//                                    ActionTypeType.TurnCorner.val(),    // 动作类型
//                                    actionPrepareSts,    // 动作进度
//                                    agvId,    // AGV
//                                    now   // 工作时间
//                            ));
//                            lastDirection = destStaWorkDirection;
//                        }
                        // 暂存点取货
                        assert backpackType != null;
                        actionList.add(new Action(
@@ -1115,11 +1195,11 @@
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性값
                                ActionTypeType.ReadyReleaseToShelvesLoc.desc,    // 名称
                                Double.parseDouble("0"),    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(destSta.getOffset()),   // 动作参数
                                ActionTypeType.ReadyReleaseToConveyorSta.val(),    // 动作类型
                                ActionTypeType.ReadyReleaseToShelvesLoc.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now,    // 工作时间
@@ -1131,7 +1211,7 @@
                        // 检验方向
                        FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
                        Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                        if (!lastDirection.equals(chargeDirection)) {
                        if (!lastDirection.equals(chargeDirection) && lastCode.getCornerBool()) {
                            actionList.add(new Action(
                                    null,    // 编号
                                    null,    // 总线
@@ -1288,7 +1368,6 @@
    }



    /**
     * 根据分片生成动作 ( 车辆可能已经做过一些任务了,正在等待下一段任务 )
     */
@@ -1322,11 +1401,14 @@
                throw new CoolException("AGV[" + agvNo + "]定位偏移...");
            }

            String lastCorner = null;
            for (int i =  pathList.size(); i <0; i++) {
                Code nextCode = codeService.getCacheByData(pathList.get(i - 1));
                if (nextCode!=null&&nextCode.getCornerBool()){
                    lastCorner =pathList.get(i - 1);
            //String lastCorner = null;
            Integer index = -1;
            boolean corner = false;
            for (int i = pathList.size(); i < 0; i++) {
                Code nextCode = codeService.getCacheByData(pathList.get(i));
                if (nextCode != null && nextCode.getCornerBool()) {
                    //lastCorner = pathList.get(i);
                    index = i;
                }
            }

@@ -1350,19 +1432,21 @@
                        if (i == 0) {
                            continue;
                        }

                        String next = pathListPart.get(i);

                        Code nextCode = codeService.getCacheByData(next);
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
                        Double nextDirection;

                        boolean reverse = false;
                        if (lastCorner.equals(lastCode)){
                            // DOTO
                        if (index >= i) {
                            // DOTO 添加转弯
                            Code endCode = codeService.getCacheByData(pathList.get(pathList.size() - 1));
                            nextDirection = mapService.calculateDirection(lastCode, endCode, angleOffsetVal);
                            reverse = true;
                        } else {
                            nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                        }else {
                            // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                            if (nextDirection.equals((workDirection + 180) % 360)) {
                            if (!nextDirection.equals((workDirection + 180) % 360)) {
                                nextDirection = workDirection;
                                reverse = true;
                            }
@@ -1708,7 +1792,7 @@
                        // 检验方向
                        FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
                        Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                        if (!lastDirection.equals(chargeDirection)) {
                        if (!lastDirection.equals(chargeDirection) && lastCode.getCornerBool()) {
                            actionList.add(new Action(
                                    null,    // 编号
                                    null,    // 总线
@@ -1851,7 +1935,7 @@

            log.info("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size());
        } catch (Exception e) {
            log.error("mainService.generateAction", e);
            log.error("mainService.generateActionV2", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            if (!Cools.isEmpty(pathList)) {
@@ -1860,7 +1944,7 @@
                mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList);
            }

            throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);
            throw new RuntimeException("generateActionV2 method caught an exception, rolling back transaction.", e);
        }
    }

@@ -2329,4 +2413,41 @@
        }
        return false;
    }

    /**
     * @author Ryan
     * @date 2025/11/10
     * @description: 修改库位状态
     * @version 1.0
     */
    @Transactional(rollbackFor = Exception.class)
    public R modifyStatus(LocSiteParams params) {
        if (Objects.isNull(params.getStatus())) {
            return R.error("修改状态不能为空！！");
        }
        LocSts locSts = locStsService.getOne(new LambdaQueryWrapper<LocSts>().eq(LocSts::getUuid, params.getStatus()));
        if (Objects.isNull(locSts)) {
            return R.error("数据错误，未找到对应工作状态！！");
        }
        if (!params.getType().equals("loc")) {
            Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getLocNo, params.getCode()));
            if (Objects.isNull(loc)) {
                return R.error("库位信息不存在！！");
            }
            loc.setLocSts(locSts.getId());
            if (!locService.updateById(loc)) {
                return R.ok("库位状态修改失败！！");
            }
        } else {
            Sta sta = staService.getOne(new LambdaQueryWrapper<Sta>().eq(Sta::getStaNo, params.getCode()));
            if (Objects.isNull(sta)) {
                return R.error("站点信息不存在！！");
            }
            sta.setStatus(locSts.getStatus());
            if (!staService.updateById(sta)) {
                return R.error("站点状态修改失败！！");
            }
        }
        return R.ok();
    }
}