#

vincentlu

昨天 1a518d788ee36886af92b2adfcbe9e79e83ef08e

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

@@ -11,6 +11,7 @@
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
import com.zy.acs.common.utils.Base62;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
@@ -788,7 +789,8 @@
            task.setAgvId(agvId);
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
            task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
//            task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
            task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));
            task.setOriCode(agvDetail.getCode());
            task.setDestCode(endCode.getId());
            // lane
@@ -936,7 +938,6 @@
                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);

                    for (int i = 0; i < pathListPart.size(); i++) {
@@ -965,11 +966,11 @@

                        // 巷道强制转弯，优先级 > workDirection
                        if (null != nextLaneDir) {
                            nextDirection = nextLaneDir;
                            final double oppNextLaneDir = (nextLaneDir + 180) % 360;

                            if (!lastDirection.equals(nextDirection)) {
                            if (!lastDirection.equals(nextLaneDir)) {
                                if (!lastCode.getCornerBool()) {
                                    throw new CoolException(agvNo + "号小车进入巷道需调整方向为 " + nextDirection + "°，请推至转弯点手动调整");
                                    throw new CoolException(agvNo + "号小车进入巷道需调整方向为 " + nextLaneDir + "°，请推至转弯点手动调整");
                                }
                                // turn
                                actionList.add(new Action(
@@ -979,24 +980,34 @@
                                        null,    // 动作号
                                        null,    // 优先级
                                        ActionTypeType.TurnCorner.desc,    // 名称
                                        (double) mapService.spinDirection(lastCode).val,     // 属性值
                                        (double) MapService.calcSpinDirection(lastCode, lastDirection, nextLaneDir).val,     // 属性值
                                        lastCode.getData(),    // 地面码
                                        String.valueOf(nextDirection),   // 动作参数
                                        String.valueOf(nextLaneDir),   // 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;
                                lastDirection = nextLaneDir;
                            }
                        } else if (null != lastLaneDir) {
                            nextDirection = lastLaneDir;

                            if (!lastDirection.equals(nextDirection)) {
                            if (nextDirection.equals(oppNextLaneDir)) {
                                reverse = true;
                            }
                            nextDirection = nextLaneDir; // 防止 第一个动作一定是 turn 出问题
                        } else if (null != lastLaneDir) { // turn 环形直角不应该存在于lane中
                            final double oppLastLaneDir = (lastLaneDir + 180) % 360;

                            if (!lastDirection.equals(lastLaneDir)) {
                                if (!lastCode.getCornerBool()) {
                                    throw new CoolException(agvNo + "号小车离开巷道需调整方向为 " + nextDirection + "°，请推至转弯点手动调整");
                                }
                            }

                            if (nextDirection.equals(oppLastLaneDir)) {
                                reverse = true;
                            }
                            nextDirection = lastLaneDir; // 防止 第一个动作一定是 turn 出问题
                        } else {

                            // 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
@@ -1036,7 +1047,7 @@
                                                null,    // 动作号
                                                null,    // 优先级
                                                ActionTypeType.TurnCorner.desc,    // 名称
                                                (double) mapService.spinDirection(lastCode).val,     // 属性值
                                                (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val,     // 属性值
                                                lastCode.getData(),    // 地面码
                                                String.valueOf(nextDirection),   // 动作参数
                                                ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1061,7 +1072,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(nextDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1101,6 +1112,25 @@
                // 初始方向值补丁
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        Double firstTurnDir = workDirection;

                        // 巷道逻辑
                        if (!laneBuilder.isInitialized()) {
                            throw new CoolException("lanes are not initialized");
                        }
                        LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
                        // 进入巷道角度
                        Double lastLaneDir = laneService.getLaneDirection(lastLaneDto);
                        if (lastLaneDir != null) {
                            firstTurnDir = lastLaneDir;
                        }

                        if (!lastDirection.equals(firstTurnDir)) {
                            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
@@ -1109,16 +1139,16 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.TurnCorner.desc,    // 名称
                                (double) mapService.spinDirection(lastCode).val,    // 属性值
                                (double) MapService.calcSpinDirection(lastCode, lastDirection, firstTurnDir).val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(workDirection),   // 动作参数
                                String.valueOf(firstTurnDir),   // 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;
                        lastDirection = firstTurnDir;

                    }
                    first = false;
@@ -1235,7 +1265,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) mapService.spinDirection(lastCode).val,   // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, oriStaWorkDirection).val,   // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(oriStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1299,7 +1329,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, destStaWorkDirection).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(destStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1358,7 +1388,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    (double) MapService.calcSpinDirection(lastCode, lastDirection, chargeDirection).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(chargeDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1840,6 +1870,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                log.info("AGV[{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            case DEST_STA:
@@ -1855,6 +1886,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                log.info("AGV[{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            default:
@@ -1872,7 +1904,7 @@
            agv_06_down.setSerialNo(agv_06_up.getSerialNo());
            agv_06_down.setActionCode(agv_06_up.getActionCode());
            agv_06_down.setResult(success ? 1 : 0);

            //agv_06_down.setResult(0);
            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }