#

vincentlu

2025-12-29 9923a4562e8dfac0c32fd2e90f60ca2c5fb79b89

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

@@ -2,19 +2,19 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.domain.BaseResult;
import com.zy.acs.common.domain.protocol.AGV_11_UP;
import com.zy.acs.common.domain.protocol.AGV_70_UP;
import com.zy.acs.common.domain.protocol.IMessageBody;
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.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -49,6 +49,8 @@
@Slf4j
@Service("mainService")
public class MainService {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private BusService busService;
@@ -98,6 +100,8 @@
    private ActionSorter actionSorter;
    @Autowired
    private StaReserveService staReserveService;
    @Autowired
    private ConveyorStationService conveyorStationService;

    @SuppressWarnings("all")
    @Transactional
@@ -1459,6 +1463,70 @@
            }
        }

        // 取放货请求包
        if (msgBody instanceof AGV_06_UP) {
            AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;
            log.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));

            boolean success = false;

            try {
                Code code = codeService.getCacheByData(agv_06_up.getQrCode());

                // query current segment
                Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
                if (null == currSeg) {
                    log.error("failed to find curr segment [{}]", agv.getUuid());
                } else {

                    // query current task
                    Task currTask = taskService.getById(currSeg.getTaskId());
                    if (currTask == null || !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {

                        log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
                    } else {

                        Sta sta;
                        TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
                        assert null != posType;
                        switch (posType) {
                            case ORI_LOC:
                            case DEST_LOC:
                                success = true;
                                break;
                            case ORI_STA:
                                sta = staService.getById(currTask.getOriSta());
                                success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT);

                                boolean permit = conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT);

                                // load sta
                                // remove expiredTime
                                break;
                            case DEST_STA:
                                // place sta
                                sta = staService.getById(currTask.getDestSta());
                                success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN);
                                break;
                            default:
                                log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                break;
                        }
                    }

                }
            } catch (Exception e) {
                log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
            }

            AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
            agv_06_down.setSerialNo(agv_06_up.getSerialNo());
            agv_06_down.setActionCode(agv_06_up.getActionCode());
            agv_06_down.setResult(success ? 1 : 0);

            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }

        // 料仓信息包
        if (msgBody instanceof AGV_70_UP) {
            AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;
@@ -1506,7 +1574,7 @@
            }

            if (taskComplete) {
                locService.taskCallBack(task);
//                locService.taskCallBack(task);

                task.setTaskSts(TaskStsType.COMPLETE.val());
                task.setEndTime(now);
@@ -1514,6 +1582,7 @@
                if (!taskService.updateById(task)) {
                    log.error("Task [{}] 更新失败 ！！！", task.getSeqNum());
                } else {
                    taskService.maintainLocAndSta(task);
                    log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum());
                }