#

vincentlu

昨天 388cf4c7cb8f942332eb0ad8d3c3e1d92714b747

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

@@ -20,10 +20,11 @@
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -383,7 +384,7 @@
                            int idx = -1;
                            for (int i = 0; i < destPosList.size(); i++) {
                                if (Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())
                                 && Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
                                        && Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
                                    idx = i;
                                    break;
                                }
@@ -893,7 +894,7 @@
     * 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 )
     */
    @Transactional
    public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
    public synchronized List<PathDto> generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
        try {
            if (Cools.isEmpty(agvId, segmentList)) { return; }
            Date now = new Date();
@@ -1239,7 +1240,7 @@
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                 null,    // 优先级
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToShelvesLoc.desc,    // 名称
                                (double) actuatorDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
@@ -1253,7 +1254,7 @@
                    case ORI_STA:
                        // 站点取货
                        Sta oriSta = staService.getById(task.getOriSta());
                        Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
                        Double oriStaWorkDirection = mapService.getStaAngle(oriSta);
                        // 检验方向
                        if (!lastDirection.equals(oriStaWorkDirection)) {
                            if (!lastCode.getCornerBool()) {
@@ -1318,7 +1319,7 @@
                    case DEST_STA:
                        // 站点放货
                        Sta destSta = staService.getById(task.getDestSta());
                        Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
                        Double destStaWorkDirection = mapService.getStaAngle(destSta);
                        // 检验方向
                        if (!lastDirection.equals(destStaWorkDirection)) {
                            if (!lastCode.getCornerBool()) {
@@ -1833,9 +1834,9 @@

                // segment list
                List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getGroupId, serialNo)
                                .eq(Segment::getGroupId, serialNo)
//                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
                        .orderByAsc(Segment::getSerial)
                                .orderByAsc(Segment::getSerial)
                );

                // settlement