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5 天以前 97e0bddd5a8b54ba0007af1f70d3e910a4dd81c0

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

@@ -18,6 +18,7 @@
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.domain.TaskDto;
@@ -28,10 +29,12 @@
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.HttpHandler;
import com.zy.acs.manager.manager.controller.param.LocSiteParams;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.manager.service.impl.LocStsServiceImpl;
import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
import com.zy.acs.manager.manager.utils.ActionSorter;
import com.zy.acs.manager.system.service.ConfigService;
@@ -104,6 +107,8 @@
    private TaskReportService taskReportService;
    @Autowired
    private AgvDurationService agvDurationService;
    @Autowired
    private LocStsService locStsService;

    @SuppressWarnings("all")
    @Transactional
@@ -138,7 +143,6 @@
        }
        Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, true);
        Integer locStaTaskNum = configService.getVal("LOC_STA_TASK_NUM", Integer.class, 2);


        // 保存任务
        for (Task task : taskList) {
@@ -761,38 +765,38 @@

            boolean first = true;
            for (Segment segment : segmentList) {

                // 分段所属的Task
                Task task = taskService.getById(segment.getTaskId());

                TaskPosDto.PosType posType = Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()));
                // 目标是否为站点
                boolean isStation = posType == TaskPosDto.PosType.ORI_STA || posType == TaskPosDto.PosType.DEST_STA;
                // 目标是否为库位
                boolean isLoc = posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.DEST_LOC;
                // 站点地码
                List<String> turnCodes = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054");
                // 库位地码
                List<String> locTurnCodes = Arrays.asList("00000080", "00000081", "00000082", "00000083", "00000084");
                // 节点条码
                Code code = codeService.getCacheById(segment.getEndNode());

                // 需要走行
                if (!lastCode.getData().equals(code.getData())) {

                    // 走行路径节点
//                    List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code);
                    List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);

                    for (int i = 0; i < pathListPart.size(); i++) {
                        if (i == 0) {
                            continue;
                        }

                        String next = pathListPart.get(i);

                        Code nextCode = codeService.getCacheByData(next);
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                        // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
                            if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
                            || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                    .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
                            if ((isStation && turnCodes.contains(lastCode.getData())) || (isLoc && locTurnCodes.contains(nextCode.getData()) && locTurnCodes.contains(lastCode.getData()))) {
                                reverse = false;
                                lastDirection = nextDirection;
                            } else {
                                nextDirection = workDirection;
                                reverse = true;
@@ -817,12 +821,9 @@
                                    nextDirection = lastDirection;
                                    reverse = true;
                                } else {
                                    if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                            .equals(TaskPosDto.PosType.ORI_STA) || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                            .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
                                    if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
                                        // turn
                                        reverse = false;

                                        actionList.add(new Action(
                                                null,    // 编号s
                                                task.getBusId(),    // 总线
@@ -838,7 +839,18 @@
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));
                                        log.info("1TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                                posType,
                                                lastCode.getData(),
                                                lastCode.getCornerBool(),
                                                nextDirection,
                                                180);
                                    } else {
                                        Double turnDirection = nextDirection;
                                        if (turnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000050") || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
                                            turnDirection = 180.0;
                                            reverse = false;
                                        }
                                        // turn
                                        actionList.add(new Action(
                                                null,    // 编号s
@@ -849,23 +861,25 @@
                                                ActionTypeType.TurnCorner.desc,    // 名称
                                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                                lastCode.getData(),    // 地面码
                                                String.valueOf(nextDirection),   // 动作参数
                                                String.valueOf(turnDirection),   // 动作参数
                                                ActionTypeType.TurnCorner.val(),    // 动作类型
                                                actionPrepareSts,    // 动作进度
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));
                                        log.info("2TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                                posType,
                                                lastCode.getData(),
                                                lastCode.getCornerBool(),
                                                nextDirection,
                                                nextDirection);
                                    }

                                    lastDirection = nextDirection;
                                }
                            } else {
                                if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                        .equals(TaskPosDto.PosType.ORI_STA) || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                        .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
                                if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
                                    // turn
                                    reverse = false;

                                    actionList.add(new Action(
                                            null,    // 编号s
                                            task.getBusId(),    // 总线
@@ -881,12 +895,19 @@
                                            agvId,    // AGV
                                            now    // 工作时间
                                    ));

                                    log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                            posType,
                                            lastCode.getData(),
                                            lastCode.getCornerBool(),
                                            nextDirection,
                                            180);
                                }
                            }
                        }

                        // 第一个动作一定是 turn
                        if (actionList.isEmpty()) {
                        if (actionList.isEmpty() && lastCode.getCornerBool()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
@@ -903,6 +924,12 @@
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            log.info("4TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                    posType,
                                    lastCode.getData(),
                                    lastCode.getCornerBool(),
                                    nextDirection,
                                    nextDirection);

                            lastDirection = nextDirection;
                        }
@@ -932,31 +959,49 @@
                        lastCode = nextCode;

                    }

                }

                // 初始方向值补丁
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        // turn
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.TurnCorner.desc,    // 名称
                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(workDirection),   // 动作参数
                                ActionTypeType.TurnCorner.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));

                        lastDirection = workDirection;

                        Double turnDirection = workDirection;
                        Code nextCode = null;
                        //添加判断是否存在下一个地码
                        int index = pathList.indexOf(lastCode.getData());
                        if (index != -1 && index + 1 < pathList.size()) {
                            String nextCodeData = pathList.get(index + 1);
                            nextCode = codeService.getCacheByData(nextCodeData);
                        } else {
                            nextCode = codeService.getCacheByData(lastCode.getData());
                        }
                        if ((isStation && turnCodes.contains(lastCode.getData())) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
                            turnDirection = workDirection + 180.0;
                        }
                        if (lastCode.getCornerBool()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(turnDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            log.info("5TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                    posType,
                                    lastCode.getData(),
                                    lastCode.getCornerBool(),
                                    null,
                                    turnDirection);
                            lastDirection = workDirection;
                        }
                    }
                    first = false;
                }
@@ -970,7 +1015,8 @@
                        assert backpackType != null;
                        // 检验方向
                        if (!lastDirection.equals(workDirection)) {
                            throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            lastDirection = workDirection;
//                            throw new CoolException(agvNo agvNo+ "号小车方向错误，请推至转弯点手动调整");
                        }
                        // 货架取货
                        Loc oriLoc = locService.getById(task.getOriLoc());
@@ -1012,7 +1058,8 @@
                        assert backpackType != null;
                        // 检验方向
                        if (!lastDirection.equals(workDirection)) {
                            throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            lastDirection = workDirection;
//                            throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                        }
                        // 暂存点取货货
                        actionList.add(new Action(
@@ -1202,7 +1249,7 @@
                        // 检验方向
                        FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
                        Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                        if (!lastDirection.equals(chargeDirection)&&lastCode.getCornerBool()) {
                        if (!lastDirection.equals(chargeDirection) && lastCode.getCornerBool()) {
                            actionList.add(new Action(
                                    null,    // 编号
                                    null,    // 总线
@@ -1358,24 +1405,25 @@
        }
    }


    /**
     * 根据分片生成动作 ( 车辆可能已经做过一些任务了,正在等待下一段任务 )
     */
    @Transactional
    public synchronized void generateActionV2(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
    public synchronized void generateActionV2(Long agvId, List<Segment> segmentList, List<String> pathList,
            Date algoStartTime) {
        try {
            if (Cools.isEmpty(agvId, segmentList)) {
                return;
            }
            Date now = new Date();
            long actionPrepareSts = ActionStsType.PREPARE.val();
//            JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
            // JSONObject storeDirection = configService.getVal("storeDirection",
            // JSONObject.class);
            int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
            String agvNo = agvService.getAgvNo(agvId);
//            if (!agvService.judgeEnable(agvId)) {
//                throw new CoolException("AGV[" + agvNo + "]当前不可用...");
//            }
            // if (!agvService.judgeEnable(agvId)) {
            // throw new CoolException("AGV[" + agvNo + "]当前不可用...");
            // }

            AgvModel agvModel = agvModelService.getByAgvId(agvId);
            Double workDirection = agvModel.getWorkDirection();
@@ -1437,7 +1485,7 @@
                            nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                            // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                            if (!nextDirection.equals((workDirection+180) % 360)) {
                            if (!nextDirection.equals((workDirection + 180) % 360)) {
                                nextDirection = workDirection;
                                reverse = true;
                            }
@@ -1483,24 +1531,23 @@
                            }
                        }


                        // 第一个动作一定是 turn
                        if (actionList.isEmpty()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(nextDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                                    null, // 编号
                                    task.getBusId(), // 总线
                                    task.getId(), // 任务
                                    null, // 动作号
                                    null, // 优先级
                                    ActionTypeType.TurnCorner.desc, // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
                                    lastCode.getData(), // 地面码
                                    String.valueOf(nextDirection), // 动作参数
                                    ActionTypeType.TurnCorner.val(), // 动作类型
                                    actionPrepareSts, // 动作进度
                                    agvId, // AGV
                                    now // 工作时间
                            ));

                            lastDirection = nextDirection;
@@ -1513,19 +1560,19 @@
                        }
                        CodeGap gap = codeGapService.findByCodeOfBoth(lastCode.getId(), nextCode.getId());
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                actionType.desc,    // 名称
                                (double) agvSpeedType.val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(gap.getDistance()),   // 动作参数
                                actionType.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                                null, // 编号
                                task.getBusId(), // 总线
                                task.getId(), // 任务
                                null, // 动作号
                                null, // 优先级
                                actionType.desc, // 名称
                                (double) agvSpeedType.val, // 属性值
                                lastCode.getData(), // 地面码
                                String.valueOf(gap.getDistance()), // 动作参数
                                actionType.val(), // 动作类型
                                actionPrepareSts, // 动作进度
                                agvId, // AGV
                                now // 工作时间
                        ));

                        lastCode = nextCode;
@@ -1536,22 +1583,23 @@

                // 初始方向值补丁
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                    if (Cools.isEmpty(actionList)
                            || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        // turn
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.TurnCorner.desc,    // 名称
                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(workDirection),   // 动作参数
                                ActionTypeType.TurnCorner.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                                null, // 编号
                                task.getBusId(), // 总线
                                task.getId(), // 任务
                                null, // 动作号
                                null, // 优先级
                                ActionTypeType.TurnCorner.desc, // 名称
                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
                                lastCode.getData(), // 地面码
                                String.valueOf(workDirection), // 动作参数
                                ActionTypeType.TurnCorner.val(), // 动作类型
                                actionPrepareSts, // 动作进度
                                agvId, // AGV
                                now // 工作时间
                        ));

                        lastDirection = workDirection;
@@ -1725,59 +1773,59 @@
                            }
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性값
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(destStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now   // 工作时间
                                    null, // 编号
                                    task.getBusId(), // 总线
                                    task.getId(), // 任务
                                    null, // 动作号
                                    null, // 优先级
                                    ActionTypeType.TurnCorner.desc, // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性값
                                    lastCode.getData(), // 地面码
                                    String.valueOf(destStaWorkDirection), // 动作参数
                                    ActionTypeType.TurnCorner.val(), // 动作类型
                                    actionPrepareSts, // 动作进度
                                    agvId, // AGV
                                    now // 工作时间
                            ));
                            lastDirection = destStaWorkDirection;
                        }
                        // 暂存点取货
                        assert backpackType != null;
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromAgvSite.desc,    // 名称
                                (double) backpackType.lev,    // 属性값
                                lastCode.getData(),    // 地面码
                                String.valueOf(backpackType.height),   // 动作参数
                                ActionTypeType.ReadyTakeFromAgvSite.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                                null, // 编号
                                task.getBusId(), // 总线
                                task.getId(), // 任务
                                null, // 动作号
                                null, // 优先级
                                ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称
                                (double) backpackType.lev, // 属性값
                                lastCode.getData(), // 地面码
                                String.valueOf(backpackType.height), // 动作参数
                                ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型
                                actionPrepareSts, // 动作进度
                                agvId, // AGV
                                now // 工作时间

                        ));
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection,
                                lastDirection);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性값
                                lastCode.getData(),    // 地面码
                                String.valueOf(destSta.getOffset()),   // 动作参数
                                ActionTypeType.ReadyReleaseToConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now,    // 工作时间
                                null, // 编号
                                task.getBusId(), // 总线
                                task.getId(), // 任务
                                null, // 动作号
                                null, // 优先级
                                ActionTypeType.ReadyReleaseToConveyorSta.desc, // 名称
                                staWorkDirection, // 属性값
                                lastCode.getData(), // 地面码
                                String.valueOf(destSta.getOffset()), // 动作参数
                                ActionTypeType.ReadyReleaseToConveyorSta.val(), // 动作类型
                                actionPrepareSts, // 动作进度
                                agvId, // AGV
                                now, // 工作时间
                                destSta.getStaTypeIsCheck() == 1 ? 2 : 0,
                                destSta.getStaNo()
                        ));
                                destSta.getStaNo()));
                        break;
                    case TO_CHARGE:
                        // 检验方向
@@ -1785,61 +1833,61 @@
                        Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                        if (!lastDirection.equals(chargeDirection) && lastCode.getCornerBool()) {
                            actionList.add(new Action(
                                    null,    // 编号
                                    null,    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性값
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(chargeDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                                    null, // 编号
                                    null, // 总线
                                    task.getId(), // 任务
                                    null, // 动作号
                                    null, // 优先级
                                    ActionTypeType.TurnCorner.desc, // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性값
                                    lastCode.getData(), // 地面码
                                    String.valueOf(chargeDirection), // 动作参数
                                    ActionTypeType.TurnCorner.val(), // 动作类型
                                    actionPrepareSts, // 动作进度
                                    agvId, // AGV
                                    now // 工作时间
                            ));
                            lastDirection = chargeDirection;
                        }

                        // charge
                        actionList.add(new Action(
                                null,    // 编号
                                null,    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.DockingCharge.desc,    // 名称
                                null,    // 属性값
                                lastCode.getData(),    // 地面码
                                null,   // 动作参数
                                ActionTypeType.DockingCharge.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                                null, // 编号
                                null, // 总线
                                task.getId(), // 任务
                                null, // 动作号
                                null, // 优先级
                                ActionTypeType.DockingCharge.desc, // 名称
                                null, // 属性값
                                lastCode.getData(), // 地面码
                                null, // 动作参数
                                ActionTypeType.DockingCharge.val(), // 动作类型
                                actionPrepareSts, // 动作进度
                                agvId, // AGV
                                now // 工作时间
                        ));
                        break;
                    case TO_STANDBY:
//                        FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
//                        Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
//                        if (!lastDirection.equals(standByDirection)) {
//                            actionList.add(new Action(
//                                    null,    // 编号
//                                    null,    // 总线
//                                    task.getId(),    // 任务
//                                    null,    // 动作号
//                                    null,    // 优先级
//                                    ActionTypeType.TurnCorner.desc,    // 名称
//                                    null,    // 属性값
//                                    lastCode.getData(),    // 地面码
//                                    String.valueOf(standByDirection),   // 动作参数
//                                    ActionTypeType.TurnCorner.val(),    // 动作类型
//                                    actionPrepareSts,    // 动作进度
//                                    agvId,    // AGV
//                                    now    // 工作时间
//                            ));
//                            lastDirection = standByDirection;
//                        }
                        // FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
                        // Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
                        // if (!lastDirection.equals(standByDirection)) {
                        // actionList.add(new Action(
                        // null, // 编号
                        // null, // 总线
                        // task.getId(), // 任务
                        // null, // 动作号
                        // null, // 优先级
                        // ActionTypeType.TurnCorner.desc, // 名称
                        // null, // 属性값
                        // lastCode.getData(), // 地面码
                        // String.valueOf(standByDirection), // 动作参数
                        // ActionTypeType.TurnCorner.val(), // 动作类型
                        // actionPrepareSts, // 动作进度
                        // agvId, // AGV
                        // now // 工作时间
                        // ));
                        // lastDirection = standByDirection;
                        // }
                        String runToWaitHeightFlag = configService.getVal("RunToWaitHeightFlag", String.class);
                        if (!Cools.isEmpty(runToWaitHeightFlag) && runToWaitHeightFlag.contains(agvId.toString())) {
                            String runToWaitHeight = configService.getVal("RunToWaitHeight", String.class);
@@ -1855,19 +1903,19 @@
                                throw new BusinessException("AGV定位信息异常，无法生成待机动作");
                            }
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.RunToWaitHeight.desc,    // 名称
                                    runToWaitHeightValue,    // 属性값
                                    lastCode.getData(),    // 地面码
                                    runToWaitHeight,   // 动作参数
                                    ActionTypeType.RunToWaitHeight.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                                    null, // 编号
                                    task.getBusId(), // 总线
                                    task.getId(), // 任务
                                    null, // 动作号
                                    null, // 优先级
                                    ActionTypeType.RunToWaitHeight.desc, // 名称
                                    runToWaitHeightValue, // 属性값
                                    lastCode.getData(), // 地面码
                                    runToWaitHeight, // 动作参数
                                    ActionTypeType.RunToWaitHeight.val(), // 动作类型
                                    actionPrepareSts, // 动作进度
                                    agvId, // AGV
                                    now // 工作时间
                            ));
                        }
                        break;
@@ -2125,98 +2173,108 @@
            if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) {
                WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();

//                Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
//                if (null == loc) {
//                    log.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
//                } else {
//                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                    for (Long taskId : taskIds) {
//                        Task task = taskService.getById(taskId);
//                        if (task.getDestLoc().equals(loc.getId())) {
//
//                            Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
//                                    .eq(Action::getTaskId, task.getId())
//                                    .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
//                                    .eq(Action::getActionSts, ActionStsType.ISSUED.val())
//                            );
//
//                            if (null != action) {
//                                action.setActionSts(ActionStsType.FINISH.val());
//                                action.setEndTime(now);
//                                action.setUpdateTime(now);
//                                if (!actionService.updateById(action)) {
//                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
//                                }
//                            }
//                            //插入一条
//                            report(task, TaskReportStsType.END);
//                        }
//                    }
//                }
                // Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode,
                // String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
                // if (null == loc) {
                // log.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(),
                // agv_11_up.getLocCode());
                // } else {
                // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                // for (Long taskId : taskIds) {
                // Task task = taskService.getById(taskId);
                // if (task.getDestLoc().equals(loc.getId())) {
                //
                // Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
                // .eq(Action::getTaskId, task.getId())
                // .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
                // .eq(Action::getActionSts, ActionStsType.ISSUED.val())
                // );
                //
                // if (null != action) {
                // action.setActionSts(ActionStsType.FINISH.val());
                // action.setEndTime(now);
                // action.setUpdateTime(now);
                // if (!actionService.updateById(action)) {
                // log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " +
                // action.getName());
                // }
                // }
                // //插入一条
                // report(task, TaskReportStsType.END);
                // }
                // }
                // }

//                List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                for (Long taskId : taskIds) {
//                    Task task = taskService.getById(taskId);
//                    report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
//                }
                // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                // for (Long taskId : taskIds) {
                // Task task = taskService.getById(taskId);
                // report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
                // }
            }

            // 出库取货
            if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_SHELVES_COMPLETE)) {
                WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();

//                Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
//                if (null == loc) {
//                    log.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
//                } else {
//
//                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                    for (Long taskId : taskIds) {
//                        Task task = taskService.getById(taskId);
//                        if (task.getOriLoc().equals(loc.getId())) {
//
//                            Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
//                                    .eq(Action::getTaskId, task.getId())
//                                    .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
//                                    .eq(Action::getActionSts, ActionStsType.ISSUED.val())
//                            );
//                            if (null != action) {
//                                action.setActionSts(ActionStsType.FINISH.val());
//                                action.setEndTime(now);
//                                action.setUpdateTime(now);
//                                if (!actionService.updateById(action)) {
//                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
//                                }
//                            }
//                            report(task, TaskReportStsType.OTBIN);
//                        }
//                    }
//                }
//                List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                for (Long taskId : taskIds) {
//                    Task task = taskService.getById(taskId);
//                    report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
//                }
                // Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode,
                // String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
                // if (null == loc) {
                // log.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(),
                // agv_11_up.getLocCode());
                // } else {
                //
                // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                // for (Long taskId : taskIds) {
                // Task task = taskService.getById(taskId);
                // if (task.getOriLoc().equals(loc.getId())) {
                //
                // Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
                // .eq(Action::getTaskId, task.getId())
                // .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
                // .eq(Action::getActionSts, ActionStsType.ISSUED.val())
                // );
                // if (null != action) {
                // action.setActionSts(ActionStsType.FINISH.val());
                // action.setEndTime(now);
                // action.setUpdateTime(now);
                // if (!actionService.updateById(action)) {
                // log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " +
                // action.getName());
                // }
                // }
                // report(task, TaskReportStsType.OTBIN);
                // }
                // }
                // }
                // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                // for (Long taskId : taskIds) {
                // Task task = taskService.getById(taskId);
                // report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
                // }

            }
            //从输送线取货完成
//            if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE)) {
//                WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
//                List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                for (Long taskId : taskIds) {
//                    Task task = taskService.getById(taskId);
//                    report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
//                }
//            }
            //往输送线放货完成
//            if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE)) {
//                WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
//                List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                for (Long taskId : taskIds) {
//                    Task task = taskService.getById(taskId);
//                    report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
//                }
//            }
            // 从输送线取货完成
            // if
            // (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE))
            // {
            // WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
            // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
            // for (Long taskId : taskIds) {
            // Task task = taskService.getById(taskId);
            // report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
            // }
            // }
            // 往输送线放货完成
            // if
            // (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE))
            // {
            // WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
            // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
            // for (Long taskId : taskIds) {
            // Task task = taskService.getById(taskId);
            // report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
            // }
            // }

            // 路径完成 || 充电完成
            if (agv_11_up.getCompleteType().equals(AgvCompleteType.ENTIRE_PATH_COMPLETE)
@@ -2224,10 +2282,9 @@

                // segment list
                List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
                                .eq(Segment::getGroupId, serialNo)
//                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
                                .orderByAsc(Segment::getSerial)
                );
                        .eq(Segment::getGroupId, serialNo)
                        // .eq(Segment::getState, SegmentStateType.RUNNING.toString())
                        .orderByAsc(Segment::getSerial));

                // settlement
                this.settleSegmentList(segmentList, serialNo);
@@ -2245,7 +2302,6 @@
        }
    }


    @Transactional
    public void settleSegmentList(List<Segment> segmentList, String serialNo) {
        if (Cools.isEmpty(segmentList)) {
@@ -2257,7 +2313,6 @@
        for (Segment segment : segmentList) {
            boolean taskComplete = false;
            boolean otbin = false;


            Task task = taskService.getById(segment.getTaskId());
            assert null != task;
@@ -2294,7 +2349,6 @@
                report(task, null, TaskReportStsType.OTBIN);
            }


            if (taskComplete) {
                locService.taskCallBackEnd(task);

@@ -2315,8 +2369,7 @@
        if (!Cools.isEmpty(serialNo)) {
            List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
                    .eq(Action::getGroupId, serialNo)
                    .eq(Action::getActionSts, ActionStsType.ISSUED.val())
            );
                    .eq(Action::getActionSts, ActionStsType.ISSUED.val()));
            for (Action action : actionList) {
                action.setActionSts(ActionStsType.FINISH.val());
                action.setEndTime(now);
@@ -2348,7 +2401,9 @@
        if (task.getBusId() == null) {
            return;
        }
        List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>().eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$()).eq(TaskReport::getTaskSts, taskReportStsType.status));
        List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>()
                .eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$())
                .eq(TaskReport::getTaskSts, taskReportStsType.status));
        if (!Cools.isEmpty(list)) {
            log.info("TaskReport [{},{}] 已重复，不再插入 ==========>> ", taskReportStsType, JSON.toJSONString(task));
            return;
@@ -2381,7 +2436,7 @@
            return false;
        }
        Integer time = configService.getVal("TIMEOUT", Integer.class, 5);
        //Integer times = configService.getVal("REPORT_TIMES", Integer.class, 2);
        // Integer times = configService.getVal("REPORT_TIMES", Integer.class, 2);
        Map<String, Object> data = new HashMap<>();
        data.put("askType", askType);
        data.put("askSta", askSta);
@@ -2404,4 +2459,41 @@
        }
        return false;
    }

    /**
     * @author Ryan
     * @date 2025/11/10
     * @description: 修改库位状态
     * @version 1.0
     */
    @Transactional(rollbackFor = Exception.class)
    public R modifyStatus(LocSiteParams params) {
        if (Objects.isNull(params.getStatus())) {
            return R.error("修改状态不能为空！！");
        }
        LocSts locSts = locStsService.getOne(new LambdaQueryWrapper<LocSts>().eq(LocSts::getUuid, params.getStatus()));
        if (Objects.isNull(locSts)) {
            return R.error("数据错误，未找到对应工作状态！！");
        }
        if (params.getType().equals("loc")) {
            Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getLocNo, params.getCode()));
            if (Objects.isNull(loc)) {
                return R.error("库位信息不存在！！");
            }
            loc.setLocSts(locSts.getId());
            if (!locService.updateById(loc)) {
                return R.ok("库位状态修改失败！！");
            }
        } else {
            Sta sta = staService.getOne(new LambdaQueryWrapper<Sta>().eq(Sta::getStaNo, params.getCode()));
            if (Objects.isNull(sta)) {
                return R.error("站点信息不存在！！");
            }
            sta.setStatus(locSts.getStatus());
            if (!staService.updateById(sta)) {
                return R.error("站点状态修改失败！！");
            }
        }
        return R.ok();
    }
}