1

skyouc

2025-12-24 c5f8df63aa5b80331a65f3cb9cd201f12cd399f2

 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;
@@ -28,10 +29,12 @@
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.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.manager.service.impl.LocStsServiceImpl;
import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
import com.zy.acs.manager.manager.utils.ActionSorter;
import com.zy.acs.manager.system.service.ConfigService;
@@ -104,6 +107,8 @@
    private TaskReportService taskReportService;
    @Autowired
    private AgvDurationService agvDurationService;
    @Autowired
    private LocStsService locStsService;

    @SuppressWarnings("all")
    @Transactional
@@ -837,6 +842,12 @@
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));
                                        log.info("1TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                                Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                                lastCode.getData(),
                                                lastCode.getCornerBool(),
                                                nextDirection,
                                                180);
                                    } else {
                                        // turn
                                        actionList.add(new Action(
@@ -854,6 +865,12 @@
                                                agvId,    // AGV
                                                now    // 工作时间
                                        ));
                                        log.info("2TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                                Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                                lastCode.getData(),
                                                lastCode.getCornerBool(),
                                                nextDirection,
                                                nextDirection);
                                    }
                                    lastDirection = nextDirection;
                                }
@@ -878,6 +895,12 @@
                                            agvId,    // AGV
                                            now    // 工作时间
                                    ));
                                    log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                            Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                            lastCode.getData(),
                                            lastCode.getCornerBool(),
                                            nextDirection,
                                            180);
                                }
                            }
                        }
@@ -900,6 +923,12 @@
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            log.info("4TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                    Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                    lastCode.getData(),
                                    lastCode.getCornerBool(),
                                    nextDirection,
                                    nextDirection);

                            lastDirection = nextDirection;
                        }
@@ -935,7 +964,7 @@
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        Double turnDirection = workDirection;
                        List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
                        List<String> list = Arrays.asList("00000050","00000051", "00000052", "00000053", "00000054");
                        if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
                                || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
                                .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
@@ -958,6 +987,12 @@
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            log.info("5TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                    Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())),
                                    lastCode.getData(),
                                    lastCode.getCornerBool(),
                                    null,
                                    turnDirection);
                            lastDirection = workDirection;
                        }
                    }
@@ -973,7 +1008,8 @@
                        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());
@@ -1015,7 +1051,8 @@
                        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(
@@ -2407,4 +2444,41 @@
        }
        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();
    }
}