#

vincentlu

2026-01-04 7ac5a3f2bcbb0d0e13dc87cd969c8fb1fd99b488

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

@@ -276,7 +276,7 @@
                            int backpackLev = 0;
                            int backpack = agvService.getBackpack(agvId);
                            List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
                            if (usedBackpacks.size() == backpackLev) {
                            if (usedBackpacks.size() >= backpack) {
                                throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
                            }
                            for (int lev = 1; lev <= backpack; lev++) {
@@ -293,7 +293,8 @@
                            currSeg.setState(SegmentStateType.INIT.toString());
                            currSeg.setUpdateTime(now);
                            if (!segmentService.updateById(currSeg)) {
                                log.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
//                                log.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
                                throw new CoolException("failed to update segment [" + currSeg.getGroupId() + "-" + currSeg.getSerial() + "] failed");
                            }

                            // new oriSta seg
@@ -310,7 +311,8 @@
                            loadSeg.setCreateTime(now);
                            loadSeg.setUpdateTime(now);
                            if (!segmentService.save(loadSeg)) {
                                log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
//                                log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
                                throw new CoolException("failed to save segment [" + loadSeg.getGroupId() + "-" + loadSeg.getSerial() + "] failed");
                            }

                            // place segment
@@ -358,17 +360,29 @@
                            newDto.setCodeId(endCode.getId());
                            destPosList.add(newDto);

                            // sort - reference to buildMarjoTask
                            final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

                            // DEST-only sort
                            destPosList.sort((a, b) -> {
                                int c1 = Double.compare(a.getXy()[0], b.getXy()[0]); // X
                                if (c1 != 0) return c1;
                                int c2 = Double.compare(a.getXy()[1], b.getXy()[1]); // Y
                                if (c2 != 0) return c2;
                                // 同坐标时用 taskId 打散（避免排序不稳定）

                                // 主轴
                                double aFirst = a.getFirstWeight(sameGroupXy);
                                double bFirst = b.getFirstWeight(sameGroupXy);
                                int c = Double.compare(aFirst, bFirst);
                                if (c != 0) return c;

                                // 副轴
                                double aSecond = a.getSecondWeight(sameGroupXy);
                                double bSecond = b.getSecondWeight(sameGroupXy);
                                c = Double.compare(aSecond, bSecond);
                                if (c != 0) return c;

                                return Long.compare(a.getTaskId(), b.getTaskId());
                            });

                            // get placeSeg serial
                            int placeSegSerial = 9999;
                            int placeSegSerial;
                            // query placeSeg idx
                            int idx = -1;
                            for (int i = 0; i < destPosList.size(); i++) {
@@ -383,11 +397,10 @@
                            }

                            // 后继点
                            TaskPosDto afterTaskPos = ((idx + 1) < destPosList.size()) ? destPosList.get(idx + 1) : null;
                            if (null == afterTaskPos) {
                                // loadSeg is the last one
                            if (idx + 1 == destPosList.size()) {
                                placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
                            } else {
                                TaskPosDto afterTaskPos = destPosList.get(idx + 1);
                                Segment afterSeg = destSegList.stream()
                                        .filter(destSeg -> Objects.equals(destSeg.getId(), afterTaskPos.getSegId()))
                                        .findFirst()
@@ -424,7 +437,8 @@
                            placeSeg.setCreateTime(now);
                            placeSeg.setUpdateTime(now);
                            if (!segmentService.save(placeSeg)) {
                                log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
//                                log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
                                throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
                            }

                            // update task
@@ -511,7 +525,7 @@
             * val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
             */
            Map<String, List<TaskPosDto>> groups = new HashMap<>();
            final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
            final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

            int backpackLev = 0;
            for (Task task : taskList) {