Merge remote-tracking branch 'origin/rcs_master' into rcs_master

zhangc

7 天以前 84e12ecd3923f28b62b8659b138a554b0f6e084d

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

@@ -892,8 +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);
//            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...");
@@ -1170,7 +1170,7 @@
                                ActionTypeType.ReadyTakeFromShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(oriLoc.getOffset(), defaultShelfDepth)),   // 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
@@ -1233,7 +1233,7 @@
                                ActionTypeType.ReadyReleaseToShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                JSON.toJSONString(new HeightDepthDto(destLoc.getOffset(), defaultShelfDepth)),   // 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
@@ -1869,7 +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
@@ -1885,7 +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