| | |
|---|
| | | } |
|---|
| | | // --------------------------- |
|---|
| | | |
|---|
| | | Travel travel = travelService.getById(segment.getTravelId()); |
|---|
| | | Agv agv = agvService.getById(travel.getAgvId()); |
|---|
| | | AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId()); |
|---|
| | | long endNode = segment.getEndNode(); |
|---|
| | | // Travel travel = travelService.getById(segment.getTravelId()); |
|---|
| | | // Agv agv = agvService.getById(travel.getAgvId()); |
|---|
| | | // AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId()); |
|---|
| | | // long endNode = segment.getEndNode(); |
|---|
| | | |
|---|
| | | |
|---|
| | | if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) { |
|---|
| | | return; |
|---|
| | | } |
|---|
| | | List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()); |
|---|
| | | if (!Cools.isEmpty(waitingSegList)) { |
|---|
| | | for (Segment waitingSeg : waitingSegList) { |
|---|
| | | if (!waitingSeg.getId().equals(segment.getId())) { |
|---|
| | | // log.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid()); |
|---|
| | | return; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | // if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) { |
|---|
| | | // return; |
|---|
| | | // } |
|---|
| | | // List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()); |
|---|
| | | // if (!Cools.isEmpty(waitingSegList)) { |
|---|
| | | // for (Segment waitingSeg : waitingSegList) { |
|---|
| | | // if (!waitingSeg.getId().equals(segment.getId())) { |
|---|
| | | //// log.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid()); |
|---|
| | | // return; |
|---|
| | | // } |
|---|
| | | // } |
|---|
| | | // } |
|---|
| | | |
|---|
| | | List<Segment> segmentList = new ArrayList<>(); |
|---|
| | | segmentList.add(segment); |
|---|
| | | |
|---|
| | | |
|---|
| | | mainZkdService.generateAction(segment.getAgvId(), segmentList, null, now); |
|---|
| | | List<String> pathList = new ArrayList<>(); |
|---|
| | | String[] split = segment.getPath().split(","); |
|---|
| | | for (int i = 0; i < split.length; i++) { |
|---|
| | | if (!Cools.isEmpty(split[i])) { |
|---|
| | | pathList.add(split[i]); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | mainZkdService.generateAction(segment.getAgvId(), segmentList, pathList, now); |
|---|
| | | |
|---|
| | | } catch (Exception e) { |
|---|
| | | log.error("TrafficService.trigger", e); |
|---|
