# version merge

vincentlu

8 天以前 583b31d46bb8abbee7410d29ca229120ee589cba

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

@@ -10,10 +10,7 @@
import com.zy.acs.common.domain.BaseResult;
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.AgvBackpackType;
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.AgvSpeedType;
import com.zy.acs.common.enums.*;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
@@ -950,7 +947,7 @@
                        if (!lastCode.getCornerBool()) {
                            // 如果是作业方向，但是小车在巷道内方向错误，则停止
                            if (reverse && !lastDirection.equals(nextDirection)) {
//                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
                            // 如果不是作业方向，判断是否相反方向，如果反方向则倒退行走
                            if (nextDirection.equals((lastDirection + 180) % 360)) {
@@ -972,7 +969,7 @@
                                            null,    // 动作号
                                            null,    // 优先级
                                            ActionTypeType.TurnCorner.desc,    // 名称
                                            mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                            (double) mapService.spinDirection(lastCode).val,     // 属性值
                                            lastCode.getData(),    // 地面码
                                            String.valueOf(nextDirection),   // 动作参数
                                            ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -996,7 +993,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(nextDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1047,7 +1044,7 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.TurnCorner.desc,    // 名称
                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                (double) mapService.spinDirection(lastCode).val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(workDirection),   // 动作参数
                                ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1066,6 +1063,7 @@
                AgvDirectionType agvDirectionType;
                Double staWorkDirection;
                AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
                // todo agvModel backpackAction ?
                switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
                    case ORI_LOC:
                        assert backpackType != null;
@@ -1169,7 +1167,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    (double) mapService.spinDirection(lastCode).val,   // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(oriStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1231,7 +1229,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(destStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1288,7 +1286,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(chargeDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1363,6 +1361,28 @@

            }

            // 如果充电中，则先断开充电
            // todo agvModel backpackAction ?
            if (agvModel.getNeedUndockingBool() && agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                String undockingCode = Cools.isEmpty(actionList) ? lastCode.getData() : actionList.get(0).getCode();
                // undocking charge
                actionList.add(0, new Action(
                        null,    // 编号
                        null,    // 总线
                        null,    // 任务
                        null,    // 动作号
                        null,    // 优先级
                        ActionTypeType.UndockingCharge.desc,    // 名称
                        null,    // 属性值
                        undockingCode,    // 地面码
                        null,   // 动作参数
                        ActionTypeType.UndockingCharge.val(),    // 动作类型
                        actionPrepareSts,    // 动作进度
                        agvId,    // AGV
                        now    // 工作时间
                ));
            }

            // finish
            actionList.add(new Action(
                    null,    // 编号
@@ -1380,6 +1400,7 @@
                    now    // 工作时间
            ));

            // todo asr need optimize sort ?
            List<Action> newActionList = actionSorter.optimizeSort(actionList);
            String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);

@@ -1574,6 +1595,11 @@
                                .setQrCode(action.getCode())
                        );
                        break;
                    case UndockingCharge:
                        agvAction.add(new AgvActionItem<>(UndockingChargeAction.class)
                                .setQrCode(action.getCode())
                        );
                        break;
                    default:
                        break;
                }