#

vincentlu

2026-01-04 7ac5a3f2bcbb0d0e13dc87cd969c8fb1fd99b488

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

@@ -4,19 +4,17 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.CommonUtil;
import com.zy.acs.manager.core.domain.AgvCntDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.FilterLaneDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.StaTypeType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.*;
import java.util.stream.Collectors;
@@ -91,12 +89,13 @@
        return result;
    }

    @Transactional(rollbackFor = Exception.class)
    public synchronized String execute(Task task, AllocateSupport inbound, AllocateSupport normal) {
        // inbound roller station
        Sta rollerOriSta = getInboundRollerSta(task);
        String inboundAgv = tryAllocateForRoller(task, rollerOriSta, true);
        if (!Cools.isEmpty(inboundAgv)) {
            inbound.success(task, inboundAgv);
            inbound.success(task, inboundAgv, rollerOriSta);
            return inboundAgv;
        }

@@ -104,13 +103,13 @@
        Sta rollerDestSta = getOutboundRollerSta(task);
        String outboundAgv = tryAllocateForRoller(task, rollerDestSta, false);
        if (!Cools.isEmpty(outboundAgv)) {
            normal.success(task, outboundAgv);
            normal.success(task, outboundAgv, rollerDestSta);
            return outboundAgv;
        }

        String normalAgv = this.normalExecute(task);
        if (!Cools.isEmpty(normalAgv)) {
            normal.success(task, normalAgv);
            normal.success(task, normalAgv, null);
            return normalAgv;
        }

@@ -206,24 +205,28 @@
            }

            // has running task and within oriSta
//            List<Segment> currSeg = segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString());
            int taskCnt = taskService.count(new LambdaQueryWrapper<Task>()
                    .eq(Task::getAgvId, agvId)
                    .eq(Task::getOriSta, sta.getId())
                    .and(wrapper -> wrapper
                            .eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                            .or()
                            .eq(Task::getTaskSts, TaskStsType.PROGRESS.val())
                    )
            );
            if (taskCnt == 0) {
//            int taskCnt = taskService.count(new LambdaQueryWrapper<Task>()
//                    .eq(Task::getAgvId, agvId)
//                    .eq(Task::getOriSta, sta.getId())
//                    .and(wrapper -> wrapper
//                            .eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
//                            .or()
//                            .eq(Task::getTaskSts, TaskStsType.PROGRESS.val())
//                    )
//            );
//            if (taskCnt == 0) {
//                continue;
//            }
            // in TransferStationHandler.hasDelayAtSta
            Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
            if (null == currSeg) {
                continue;
            }

            // has enough backpack space to load
            Integer backpack = agvService.getBackpack(agvId);
            int countRemainingBackpack = segmentService.countRemainingBackpack(null, agvId);
            if (countRemainingBackpack >= backpack) {
            List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(null, agvId);
            if (usedBackpacks.size() >= backpack) {
                continue;
            }