#

luxiaotao1123

2025-01-06 b9eef68cc85d30b892a1cd50829341d3dae743b9

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

@@ -250,7 +250,6 @@
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), true)) {
                return;
//                throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
            }
            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
                throw new CoolException("AGV[" + agv.getUuid() + "]分配任务失败，已存在执行任务...");
@@ -473,6 +472,7 @@
            // task
            for (Task task : taskList) {
                task.setTaskSts(TaskStsType.ASSIGN.val());
                task.setStartTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    throw new BusinessException(task.getUuid() + "任务更新失败");
@@ -642,7 +642,7 @@
     * 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 generateAction(Long agvId, List<Segment> segmentList, List<String> pathList) {
    public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
        try {
            if (Cools.isEmpty(agvId, segmentList)) { return; }
            Date now = new Date();
@@ -658,7 +658,6 @@
            assert agvSpeedType != null;

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            assert agvDetail != null;

            List<Action> actionList = new ArrayList<>();
            // start node
@@ -697,7 +696,7 @@
                            nextDirection = workDirection;
                            reverse = true;
                        }
                        if (!lastDirection.equals(nextDirection) || actionList.size() == 0) {
                        if (!lastDirection.equals(nextDirection) || actionList.isEmpty()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
@@ -1011,6 +1010,9 @@
                item.setGroupId(groupId);
                item.setState(SegmentStateType.RUNNING.toString());
                item.setUpdateTime(now);
                if (null != algoStartTime) {
                    item.setAlgoTime((int) (now.getTime() - algoStartTime.getTime()));
                }
                if (!segmentService.updateById(item)) {
                    throw new CoolException("更新Segment失败");
                }
@@ -1042,8 +1044,9 @@
            if (Cools.isEmpty(actionList)) {
                return;
            }
            long actionIssuedSts = ActionStsType.ISSUED.val();
            for (Action action : actionList) {
                action.setActionSts(ActionStsType.ISSUED.val());
                action.setActionSts(actionIssuedSts);
                action.setStartTime(now);
                action.setIoTime(now);
                action.setUpdateTime(now);
@@ -1054,17 +1057,18 @@

            // task
            List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
            long taskAssignSts = TaskStsType.ASSIGN.val();
            long taskProgressSts = TaskStsType.PROGRESS.val();
            for (Long taskId : taskIds) {
                Task task = taskService.getById(taskId);
                if (task.getTaskSts().equals(TaskStsType.ASSIGN.val())) {
                    task.setTaskSts(TaskStsType.PROGRESS.val());
                if (task.getTaskSts().equals(taskAssignSts)) {
                    task.setTaskSts(taskProgressSts);
                    task.setUpdateTime(now);
                    if (!taskService.updateById(task)) {
                        throw new BusinessException(task.getSeqNum() + "任务更新失败");
                    }
                }
            }


            Agv agv = agvService.getById(actionList.get(0).getAgvId());
            AgvAction agvAction = new AgvAction(agv.getUuid(), actionGroupId);