#

vincentlu

2025-12-30 b781dc511b21b80b14befe87d42eced1cce59d1f

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

@@ -296,7 +296,7 @@
                    return o2.getPriority() - o1.getPriority();
                }
            });
            Integer backpack = agvService.getBackpack(agv);
            Integer backpack = agvService.getBackpack(agvId);
            if (taskList.size() > backpack) {
                taskList = taskList.subList(0, backpack);
            }
@@ -1495,26 +1495,42 @@
                                success = true;
                                break;
                            case ORI_STA:
                                // load from 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
                                // reserve to be waiting
                                if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
                                    break;
                                }
                                // convey plc valid
                                if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT)) {
                                    // reserve rollback
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                success = true;
                                break;
                            case DEST_STA:
                                // place sta
                                // place to sta
                                sta = staService.getById(currTask.getDestSta());
                                success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN);
                                // reserve to be waiting
                                if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN)) {
                                    break;
                                }
                                // convey plc valid
                                if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.IN)) {
                                    // reserve rollback
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                success = true;
                                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);
            }
@@ -1574,8 +1590,6 @@
            }

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

                task.setTaskSts(TaskStsType.COMPLETE.val());
                task.setEndTime(now);
                task.setUpdateTime(now);