#

luxiaotao1123

8 天以前 b0d63d1eecb2e0d88dde8fd1a5bf8574b56b9cbb

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -151,12 +151,29 @@
                    .eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                            .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                })) > 0) {
            log.info(agv.getUuid() + "号AGV不可用，已经存在进行中的任务...");
            log.info("{}号AGV不可用，已经存在进行中的任务...", agv.getUuid());
            return R.error();
        }
        if (!agvService.judgeEnable(agv.getId())) {
            log.info(agv.getUuid() + "号AGV不可用，任务无法计算...");
            log.info("{}号AGV不可用，任务无法计算...", agv.getUuid());
            return R.error();
        }

        Task task = new Task();
        task.setAgvId(agv.getId());
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
        List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
        task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));

        task.setTaskType(param.getTaskMode().val());
        task.setTaskSts(TaskStsType.WAITING.val());

        task.setPriority(999);
        task.setIoTime(now);
        task.setStartTime(now);
        task.setMemo("HANDLE");
        if (!taskService.save(task)) {
            throw new BusinessException(task.getSeqNum() + "任务保存失败");
        }

        // generate
@@ -164,7 +181,6 @@
        Loc destLoc = null;
        Sta oriSta = null;
        Sta destSta = null;
        Task task = null;
        switch (param.getTaskMode()) {
            case MOVE:
                Code endCode = null;
@@ -177,12 +193,20 @@
                if (null == endCode) {
                    return R.error();
                }
                if (!taskService.removeById(task.getId())) {
                    throw new BusinessException("failed to remove task");
                }
                task = null;
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
                    return R.error();
                }
                break;
            case TO_CHARGE:
            case TO_STANDBY:
                if (!taskService.removeById(task.getId())) {
                    throw new BusinessException("failed to remove task");
                }
                task = null;
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
                    return R.error();
                }
@@ -227,8 +251,6 @@
                }

                // task
                task = new Task();

                task.setOriLoc(oriLoc.getId());
                task.setOriCode(oriLoc.getCode());
                task.setDestLoc(destLoc.getId());
@@ -269,8 +291,6 @@
                }

                // task
                task = new Task();

                task.setOriLoc(oriLoc.getId());
                task.setOriCode(oriLoc.getCode());
                task.setDestSta(destSta.getId());
@@ -311,8 +331,6 @@
                }

                // task
                task = new Task();

                task.setOriSta(oriSta.getId());
                task.setOriCode(oriSta.getCode());
                task.setDestLoc(destLoc.getId());
@@ -348,8 +366,6 @@
                }

                // task
                task = new Task();

                task.setOriSta(oriSta.getId());
                task.setOriCode(oriSta.getCode());
                task.setDestSta(destSta.getId());
@@ -360,22 +376,10 @@
        }

        if (null != task) {
            task.setAgvId(agv.getId());
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
            task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));

            task.setTaskType(param.getTaskMode().val());
            task.setTaskSts(TaskStsType.WAITING.val());

            task.setPriority(999);
            task.setIoTime(now);
            task.setStartTime(now);
            if (!taskService.save(task)) {
                throw new BusinessException(task.getSeqNum() + "任务保存失败");
            if (!taskService.updateById(task)) {
                throw new BusinessException("任务更新失败");
            }
        }

        return R.ok();
    }