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yy

10 天以前 afbdf224dcc6f4c5d0f9331e25b99e0621cb6afd

 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;
@@ -28,6 +29,7 @@
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.*;
@@ -104,6 +106,8 @@
    private TaskReportService taskReportService;
    @Autowired
    private AgvDurationService agvDurationService;
    @Autowired
    private LocStsService locStsService;

    @SuppressWarnings("all")
    @Transactional
@@ -138,7 +142,6 @@
        }
        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) {
@@ -761,16 +764,16 @@

            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()));
                boolean isStation = posType.equals(TaskPosDto.PosType.ORI_STA) || posType.equals(TaskPosDto.PosType.DEST_STA);
                boolean isLoc = posType.equals(TaskPosDto.PosType.ORI_LOC) || posType.equals(TaskPosDto.PosType.DEST_LOC);
                // 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);
@@ -788,10 +791,12 @@
                        // 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)) {
                            nextDirection = workDirection;
                            if (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)) {
                            List<String> list = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
                            if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
                                reverse = false;
                                lastDirection = nextDirection;
                            } else {
                                nextDirection = workDirection;
                                reverse = true;
                            }
                        }
@@ -814,12 +819,9 @@
                                    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 && lastCode.getData().equals("00000080"))) {
                                        // turn
                                        reverse = false;

                                        actionList.add(new Action(
                                                null,    // 编号s
                                                task.getBusId(),    // 总线
@@ -835,7 +837,18 @@
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));
                                        log.info("1TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                                posType,
                                                lastCode.getData(),
                                                lastCode.getCornerBool(),
                                                nextDirection,
                                                180);
                                    } else {
                                        List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
                                        Double turnDirection = nextDirection;
                                        if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
                                            turnDirection = 180.0;
                                        }
                                        // turn
                                        actionList.add(new Action(
                                                null,    // 编号s
@@ -846,21 +859,52 @@
                                                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 ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
                                    // turn
                                    reverse = false;
                                    actionList.add(new Action(
                                            null,    // 编号s
                                            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(180),   // 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("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
@@ -877,6 +921,12 @@
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            log.info("4TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                    posType,
                                    lastCode.getData(),
                                    lastCode.getCornerBool(),
                                    nextDirection,
                                    nextDirection);

                            lastDirection = nextDirection;
                        }
@@ -906,31 +956,41 @@
                        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;
                        List<String> list = Arrays.asList("00000050","00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
                        if ((isStation && list.contains("00000050")) || (isLoc && list.contains("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;
                }
@@ -944,7 +1004,8 @@
                        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());
@@ -986,7 +1047,8 @@
                        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(
@@ -1176,7 +1238,7 @@
                        // 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
@@ -1411,7 +1473,7 @@
                            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;
                            }
@@ -2378,4 +2440,41 @@
        }
        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();
    }
}