#

vincentlu

2025-03-27 cd67e854d4715bc92a16dc7bffdbde7be1da9957

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

@@ -250,7 +250,7 @@
        try {
            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), true)) {
            if (!agvService.judgeEnable(agv.getId(), false)) {
                return;
            }
            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -653,9 +653,9 @@
//            JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
            int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
            String agvNo = agvService.getAgvNo(agvId);
            if (!agvService.judgeEnable(agvId)) {
                throw new CoolException("AGV[" + agvNo + "]当前不可用...");
            }
//            if (!agvService.judgeEnable(agvId)) {
//                throw new CoolException("AGV[" + agvNo + "]当前不可用...");
//            }

            AgvModel agvModel = agvModelService.getByAgvId(agvId);
            Double workDirection = agvModel.getWorkDirection();
@@ -667,7 +667,7 @@
            List<Action> actionList = new ArrayList<>();
            // start node
            Code lastCode = codeService.getCacheById(agvDetail.getRecentCode());
            Double lastDirection = agvDetail.getAgvAngle();
            Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
            if (!lastCode.getData().equals(pathList.get(0))) {
                throw new CoolException("AGV[" + agvNo + "]定位偏移...");
            }
@@ -696,12 +696,55 @@
                        Code nextCode = codeService.getCacheByData(next);
                        Double 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
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            nextDirection = workDirection;
                            reverse = true;
                        }
                        if (!lastDirection.equals(nextDirection) || actionList.isEmpty()) {

                        // 第二步：判断当前节点是否可以旋转
                        if (!lastCode.getCornerBool()) {
                            // 如果是作业方向，但是小车在巷道内方向错误，则停止
                            if (reverse && !lastDirection.equals(nextDirection)) {
//                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
                            // 如果不是作业方向，判断是否相反方向，如果反方向则倒退行走
                            if (nextDirection.equals((lastDirection + 180) % 360)) {
                                nextDirection = lastDirection;
                                reverse = true;
                            }
                        } else {
                            if (!lastDirection.equals(nextDirection)) {
                                // 如果下个节点方向与当前agv方向相反，则倒退行走，但是如果当前agv方向正好与工作方向相反，则旋转至工作方向
                                if (nextDirection.equals((lastDirection + 180) % 360) && !workDirection.equals((lastDirection + 180) % 360)) {
                                    nextDirection = lastDirection;
                                    reverse = true;
                                } else {
                                    // turn
                                    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(nextDirection),   // 动作参数
                                            ActionTypeType.TurnCorner.val(),    // 动作类型
                                            actionPrepareSts,    // 动作进度
                                            agvId,    // AGV
                                            now    // 工作时间
                                    ));

                                    lastDirection = nextDirection;
                                }
                            }
                        }

                        // 第一个动作一定是 turn
                        if (actionList.isEmpty()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
@@ -720,7 +763,6 @@
                            ));

                            lastDirection = nextDirection;

                        }

                        // run
@@ -785,23 +827,24 @@
                        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");
                            // 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;
//                            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;
                        }
                        // 货架取货
                        Loc oriLoc = locService.getById(task.getOriLoc());
@@ -843,23 +886,24 @@
                        assert backpackType != null;
                        // 检验方向
                        if (!lastDirection.equals(workDirection)) {
                            // 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;
                            throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
//                            // 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;
                        }
                        // 暂存点取货货
                        actionList.add(new Action(
@@ -989,26 +1033,19 @@
                    now    // 工作时间
            ));

//            List<Action> newActionList = new ArrayList<>(actionList);

//            List<Action> optimizeList = actionService.optimizeSort(actionList);

            List<Action> optimizeList = actionSorter.optimizeSort(actionList);
            List<Action> newActionList = new ArrayList<>(optimizeList);


            List<Action> newActionList = actionSorter.optimizeSort(actionList);
            String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);

            // save action
            int i = newActionList.size();
            for (Action action : newActionList) {
                action.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
//                action.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
                action.setGroupId(groupId);
                action.setPriority(i);
                if (!actionService.save(action)) {
                    throw new BusinessException(action.getName() + "动作保存失败");
                }
                i -= 1;
            }
            if (!actionService.saveBatch(newActionList)) {
                throw new BusinessException("group[" + groupId + "] 动作保存失败");
            }

            // update segment
@@ -1057,9 +1094,9 @@
                action.setStartTime(now);
                action.setIoTime(now);
                action.setUpdateTime(now);
                if (!actionService.updateById(action)) {
                    throw new BusinessException(action.getPriority() + " - " + action.getName() + "动作更新失败");
                }
            }
            if (!actionService.updateBatchById(actionList)) {
                throw new BusinessException("failed to update action batch !!!");
            }

            // task