Merge branch 'rcs_master' into ctu_conveyor

zhang

6 天以前 39efc87b3794f957aad73acf3a430b84e3a19b27

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

@@ -4,10 +4,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
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.*;
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
@@ -895,6 +892,8 @@
            long actionPrepareSts = ActionStsType.PREPARE.val();
//            JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
            int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
//            Double defaultShelfDepth = configService.getVal("defaultShelfDepth", Double.class);
//            defaultShelfDepth = Optional.ofNullable(defaultShelfDepth).orElse((double) 0);
            String agvNo = agvService.getAgvNo(agvId);
//            if (!agvService.judgeEnable(agvId)) {
//                throw new CoolException("AGV[" + agvNo + "]当前不可用...");
@@ -1171,7 +1170,7 @@
                                ActionTypeType.ReadyTakeFromShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(oriLoc.getOffset()),   // 动作参数
                                JSON.toJSONString(new HeightDepthDto(oriLoc.getOffset())),   // 动作参数
                                ActionTypeType.ReadyTakeFromShelvesLoc.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
@@ -1234,7 +1233,7 @@
                                ActionTypeType.ReadyReleaseToShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(destLoc.getOffset()),   // 动作参数
                                JSON.toJSONString(new HeightDepthDto(destLoc.getOffset())),   // 动作参数
                                ActionTypeType.ReadyReleaseToShelvesLoc.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
@@ -1279,7 +1278,7 @@
                                ActionTypeType.ReadyTakeFromConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(oriSta.getOffset()),   // 动作参数
                                JSON.toJSONString(new HeightDepthDto(oriSta.getHeight(), Optional.ofNullable(oriSta.getDepth()).orElse((double) 0))),   // 动作参数
                                ActionTypeType.ReadyTakeFromConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
@@ -1362,7 +1361,7 @@
                                ActionTypeType.ReadyReleaseToConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(destSta.getOffset()),   // 动作参数
                                JSON.toJSONString(new HeightDepthDto(destSta.getHeight(), Optional.ofNullable(destSta.getDepth()).orElse((double) 0))),   // 动作参数
                                ActionTypeType.ReadyReleaseToConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
@@ -1635,14 +1634,22 @@
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyTakeFromConveyorSta:
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyTakeFromAgvSite:
@@ -1656,21 +1663,22 @@
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case LoadPlatformLift:
                        agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyReleaseToConveyorSta:
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyReleaseToAgvSite:
@@ -1678,6 +1686,13 @@
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case LoadPlatformLift:
                        agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case FinishPath:
@@ -1854,7 +1869,7 @@
                                // load from sta
                                sta = staService.getById(currTask.getOriSta());
                                // reserve to be waiting
                                if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
                                if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.OUT)) {
                                    break;
                                }
                                // convey plc valid
@@ -1870,7 +1885,7 @@
                                // place to sta
                                sta = staService.getById(currTask.getDestSta());
                                // reserve to be waiting
                                if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN)) {
                                if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.IN)) {
                                    break;
                                }
                                // convey plc valid