#

vincentlu

2025-12-31 4937f052ec2c91b3fdcbb669aef7991912cde98e

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

@@ -100,6 +100,8 @@
    private ActionSorter actionSorter;
    @Autowired
    private StaReserveService staReserveService;
    @Autowired
    private ConveyorStationService conveyorStationService;

    @SuppressWarnings("all")
    @Transactional
@@ -244,19 +246,36 @@
            }

            List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
            for (Task task : taskList) {
                Agv agv = allocateService.execute(task);
                if (null == agv) {
//                    log.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
                    continue;
                }
                task.setAgvId(agv.getId());
                task.setTaskSts(TaskStsType.WAITING.val());
                task.setIoTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                }
            for (Task t : taskList) {
                String resultAgvNo = allocateService.execute(t
                        // inbound
                        , (task, agvNo) -> {

                        }
                        // normal
                        , (task, agvNo) -> {
                            if (Cools.isEmpty(agvNo)) {
                                return;
                            }
                            task.setAgvId(agvService.getAgvId(agvNo));
                            task.setTaskSts(TaskStsType.WAITING.val());
                            task.setIoTime(now);
                            task.setUpdateTime(now);
                            if (!taskService.updateById(task)) {
                                throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                            }
                        });
//                if (Cools.isEmpty(agvNo)) {
////                    log.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
//                    continue;
//                }
//                task.setAgvId(agvService.getAgvId(agvNo));
//                task.setTaskSts(TaskStsType.WAITING.val());
//                task.setIoTime(now);
//                task.setUpdateTime(now);
//                if (!taskService.updateById(task)) {
//                    throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
//                }
            }
        } catch (Exception e) {
            log.error("mainService.infuseAgvForTask", e);
@@ -294,7 +313,7 @@
                    return o2.getPriority() - o1.getPriority();
                }
            });
            Integer backpack = agvService.getBackpack(agv);
            Integer backpack = agvService.getBackpack(agvId);
            if (taskList.size() > backpack) {
                taskList = taskList.subList(0, backpack);
            }
@@ -1464,19 +1483,79 @@
        // 取放货请求包
        if (msgBody instanceof AGV_06_UP) {
            AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;

            log.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));

            // query current segment
            Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), agv_06_up.getQrCode());
            boolean success = false;

            try {
                Code code = codeService.getCacheByData(agv_06_up.getQrCode());

            // todo:vincent 校验是否可以取放货
                // query current segment
                Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
                if (null == currSeg) {
                    log.error("failed to find curr segment [{}]", agv.getUuid());
                } else {

                    // query current task
                    Task currTask = taskService.getById(currSeg.getTaskId());
                    if (currTask == null || !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {

                        log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
                    } else {

                        Sta sta;
                        TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
                        assert null != posType;
                        switch (posType) {
                            case ORI_LOC:
                            case DEST_LOC:
                                success = true;
                                break;
                            case ORI_STA:
                                // load from sta
                                sta = staService.getById(currTask.getOriSta());
                                // reserve to be waiting
                                if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
                                    break;
                                }
                                // convey plc valid
                                if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT)) {
                                    // reserve rollback
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                success = true;
                                break;
                            case DEST_STA:
                                // place to sta
                                sta = staService.getById(currTask.getDestSta());
                                // reserve to be waiting
                                if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN)) {
                                    break;
                                }
                                // convey plc valid
                                if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.IN)) {
                                    // reserve rollback
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                success = true;
                                break;
                            default:
                                log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                break;
                        }
                    }
                }

            } catch (Exception e) {
                log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
            }

            AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
            agv_06_down.setSerialNo(agv_06_up.getSerialNo());
            agv_06_down.setActionCode(agv_06_up.getActionCode());
            agv_06_down.setResult(1);
            agv_06_down.setResult(success ? 1 : 0);

            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }
@@ -1528,8 +1607,6 @@
            }

            if (taskComplete) {
//                locService.taskCallBack(task);

                task.setTaskSts(TaskStsType.COMPLETE.val());
                task.setEndTime(now);
                task.setUpdateTime(now);