#

vincentlu

6 小时以前 6cbb420754e6e29fa134a6afca4514b8dfd62918

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

@@ -10,10 +10,7 @@
import com.zy.acs.common.domain.BaseResult;
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.AgvBackpackType;
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.AgvSpeedType;
import com.zy.acs.common.enums.*;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
@@ -24,8 +21,9 @@
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
@@ -92,11 +90,11 @@
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private TrafficService trafficService;
    private LaneService laneService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;
    private LaneBuilder laneBuilder;
    @Autowired
    private ActionSorter actionSorter;
    @Autowired
@@ -276,7 +274,10 @@
                            int backpackLev = 0;
                            int backpack = agvService.getBackpack(agvId);
                            List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
                            for (int lev = 0; lev < backpack; lev++) {
                            if (usedBackpacks.size() >= backpack) {
                                throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
                            }
                            for (int lev = 1; lev <= backpack; lev++) {
                                if (!usedBackpacks.contains(lev)) {
                                    backpackLev = lev;
                                    break;
@@ -290,7 +291,8 @@
                            currSeg.setState(SegmentStateType.INIT.toString());
                            currSeg.setUpdateTime(now);
                            if (!segmentService.updateById(currSeg)) {
                                log.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
//                                log.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
                                throw new CoolException("failed to update segment [" + currSeg.getGroupId() + "-" + currSeg.getSerial() + "] failed");
                            }

                            // new oriSta seg
@@ -307,7 +309,8 @@
                            loadSeg.setCreateTime(now);
                            loadSeg.setUpdateTime(now);
                            if (!segmentService.save(loadSeg)) {
                                log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
//                                log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
                                throw new CoolException("failed to save segment [" + loadSeg.getGroupId() + "-" + loadSeg.getSerial() + "] failed");
                            }

                            // place segment
@@ -329,20 +332,111 @@
                                    throw new BusinessException("[Agv:" + agvNo + "] allocate inbound only supports STA_TO_LOC/STA_TO_STA");
                            }

                            // calc placeSeg serial, through code position
                            List<Segment> destSegList = segmentService.list(new LambdaQueryWrapper<Segment>()
                                    .eq(Segment::getAgvId, agvId)
                                    .eq(Segment::getTravelId, currSeg.getTravelId())
                                    .ne(Segment::getState, SegmentStateType.FINISH.toString())
                                    .in(Segment::getPosType,
                                            TaskPosDto.PosType.DEST_LOC.toString(),
                                            TaskPosDto.PosType.DEST_STA.toString())
                                    .orderByAsc(Segment::getSerial)
                            );

                            // build destPosList and sort
                            List<TaskPosDto> destPosList = new ArrayList<>();
                            for (Segment destSeg : destSegList) {
                                Code code = codeService.getCacheById(destSeg.getEndNode());
                                if (code == null) continue;

                                TaskPosDto dto = new TaskPosDto(destSeg.getTaskId(), new Double[]{code.getX(), code.getY()}, TaskPosDto.PosType.DEST_LOC);
                                dto.setCodeId(code.getId());
                                dto.setSegId(destSeg.getId());
                                destPosList.add(dto);
                            }
                            TaskPosDto newDto = new TaskPosDto(task.getId(), new Double[]{endCode.getX(), endCode.getY()}, TaskPosDto.PosType.DEST_LOC);
                            newDto.setCodeId(endCode.getId());
                            destPosList.add(newDto);

                            // sort - reference to buildMarjoTask
                            final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

                            // DEST-only sort
                            destPosList.sort((a, b) -> {

                                // 主轴
                                double aFirst = a.getFirstWeight(sameGroupXy);
                                double bFirst = b.getFirstWeight(sameGroupXy);
                                int c = Double.compare(aFirst, bFirst);
                                if (c != 0) return c;

                                // 副轴
                                double aSecond = a.getSecondWeight(sameGroupXy);
                                double bSecond = b.getSecondWeight(sameGroupXy);
                                c = Double.compare(aSecond, bSecond);
                                if (c != 0) return c;

                                return Long.compare(a.getTaskId(), b.getTaskId());
                            });

                            // get placeSeg serial
                            int placeSegSerial;
                            // query placeSeg idx
                            int idx = -1;
                            for (int i = 0; i < destPosList.size(); i++) {
                                if (Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())
                                        && Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())) {
                                    idx = i;
                                    break;
                                }
                            }
                            if (idx < 0) {
                                throw new BusinessException("failed to locate new destination in sorted list");
                            }

                            // 后继点
                            if (idx + 1 == destPosList.size()) {
                                placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
                            } else {
                                TaskPosDto afterTaskPos = destPosList.get(idx + 1);
                                Segment afterSeg = destSegList.stream()
                                        .filter(destSeg -> Objects.equals(destSeg.getId(), afterTaskPos.getSegId()))
                                        .findFirst()
                                        .orElse(null);
                                if (null == afterSeg) {
                                    placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
                                } else {
                                    placeSegSerial = afterSeg.getSerial();
                                }
                            }
//                            placeSegSerial = Math.max(placeSegSerial, currSeg.getSerial() + 1);

                            // shift serial after
                            segmentService.update(new LambdaUpdateWrapper<Segment>()
                                    .eq(Segment::getAgvId, agvId)
                                    .eq(Segment::getTravelId, currSeg.getTravelId())
                                    .ge(Segment::getSerial, placeSegSerial)
                                    .ne(Segment::getState, SegmentStateType.FINISH.toString())
                                    .setSql("serial = serial + 1")
                                    .set(Segment::getUpdateTime, now)
                            );

                            // save place segment
                            Segment placeSeg = new Segment();
                            placeSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
                            placeSeg.setTravelId(currSeg.getTravelId());
                            placeSeg.setAgvId(agvId);
                            placeSeg.setTaskId(task.getId());
                            placeSeg.setSerial();
                            placeSeg.setSerial(placeSegSerial);
                            placeSeg.setEndNode(endCode.getId());
                            placeSeg.setPosType(posType.toString());
                            placeSeg.setState(SegmentStateType.INIT.toString());
                            loadSeg.setBackpack(backpackLev);
                            placeSeg.setBackpack(backpackLev);
                            placeSeg.setCreateTime(now);
                            placeSeg.setUpdateTime(now);
                            if (!segmentService.save(placeSeg)) {
                                log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
//                                log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
                                throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
                            }

                            // update task
@@ -353,10 +447,13 @@
                            if (!taskService.updateById(task)) {
                                throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                            }
                            // update reserve
                            staReserveService.allocateCallBack(task, agvId);
                        }
                        // normal
                        , (task, agvNo, sta) -> {
                            Long agvId = agvService.getAgvId(agvNo);
                            // update task
                            task.setAgvId(agvId);
                            task.setTaskSts(TaskStsType.WAITING.val());
                            task.setIoTime(now);
@@ -364,6 +461,8 @@
                            if (!taskService.updateById(task)) {
                                throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                            }
                            // update reserve
                            staReserveService.allocateCallBack(task, agvId);
                        });
//                if (Cools.isEmpty(agvNo)) {
////                    log.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
@@ -429,7 +528,7 @@
             * val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
             */
            Map<String, List<TaskPosDto>> groups = new HashMap<>();
            final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
            final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

            int backpackLev = 0;
            for (Task task : taskList) {
@@ -571,6 +670,7 @@


            // generate travel
            travelService.finishAll(agvId);
            Travel travel = new Travel();
            travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
@@ -692,9 +792,9 @@
            task.setOriCode(agvDetail.getCode());
            task.setDestCode(endCode.getId());
            // lane
            Lane destLane = laneService.search(endCode.getData());
            if (null != destLane) {
                task.setDestLaneHash(destLane.getHashCode());
            LaneDto destLaneDto = laneBuilder.search(endCode.getData());
            if (null != destLaneDto) {
                task.setDestLaneHash(destLaneDto.getHashCode());
            }
            task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
            task.setTaskSts(TaskStsType.ASSIGN.val());
@@ -706,6 +806,7 @@
            }

            // generate travel
            travelService.finishAll(agvId);
            Travel travel = new Travel();
            travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
@@ -806,6 +907,9 @@

            AgvModel agvModel = agvModelService.getByAgvId(agvId);
            Double workDirection = agvModel.getWorkDirection();
            final double oppWorkDir = (workDirection + 180) % 360;
            boolean backupAction = null != agvModel.getBackupAction() && agvModel.getBackupActionBool();
            boolean needUndocking = null != agvModel.getNeedUndocking() && agvModel.getNeedUndockingBool();
            AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
            assert agvSpeedType != null;

@@ -841,51 +945,108 @@
                        String next = pathListPart.get(i);

                        Code nextCode = codeService.getCacheByData(next);
                        // 车头朝前的下一个行走方向
                        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
                        // 反向角
                        final double oppLastDir = (lastDirection + 180) % 360;
                        // 是否倒退行走
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            nextDirection = workDirection;
                            reverse = true;
                        }

                        // 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");
                        // 巷道逻辑
                        if (!laneBuilder.isInitialized()) {
                            throw new CoolException("lanes are not initialized");
                        }
                        LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
                        LaneDto nextLaneDto = laneBuilder.search(nextCode.getData());
                        // 进入巷道角度
                        Double lastLaneDir = laneService.getLaneDirection(lastLaneDto);
                        Double nextLaneDir = laneService.getLaneDirection(nextLaneDto);

                        // 巷道强制转弯，优先级 > workDirection
                        if (null != nextLaneDir) {
                            nextDirection = nextLaneDir;

                            if (!lastDirection.equals(nextDirection)) {
                                if (!lastCode.getCornerBool()) {
                                    throw new CoolException(agvNo + "号小车进入巷道需调整方向为 " + nextDirection + "°，请推至转弯点手动调整");
                                }
                                // 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
                                        (double) mapService.spinDirection(lastCode).val,     // 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;
                            }
                            // 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 (null != lastLaneDir) {
                            nextDirection = lastLaneDir;

                            if (!lastDirection.equals(nextDirection)) {
                                if (!lastCode.getCornerBool()) {
                                    throw new CoolException(agvNo + "号小车离开巷道需调整方向为 " + nextDirection + "°，请推至转弯点手动调整");
                                }
                            }
                        } 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)) {

                            // 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
                            if (nextDirection.equals(oppWorkDir)) {
                                nextDirection = workDirection;
                                reverse = true;
                            }

                            // 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（另一组相反方向），判断是否相反方向，如果反方向则倒退行走
                                if (nextDirection.equals(oppLastDir)) {
                                    // 倒退时，因为agv方向没变，所以下一个方向还是agv方向，故nextDirection = lastDirection;
                                    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
                                    ));
                                }
                                // 总结：1.如果是作业组（差180°）方向，那么agv方向必须是作业方向，如果 reverse 则说明倒退，这时候nextDirection肯定会等于作业方向（前面赋值了），如果不相同，则报错
                                //      2.如果不是作业组方向（另一组相反方向差180°），因为此函数不能旋转，所以差180°时只能倒退，倒退的时候因为agv不会旋转，所以nextDirection要变成agv方向
                            } else {
                                if (!lastDirection.equals(nextDirection)) {
                                    // 如果下一个方向与agv方向相反，则倒退行走，避免进行毫无意义的转弯动作。
                                    // 但是要注意：如果agv方向与工作方向正好相反，则需要旋转至工作方向，也就是为什么要加!workDirection.equals(oppLastDir)判断
                                    if (nextDirection.equals(oppLastDir) && !workDirection.equals(oppLastDir)) {
                                        // 倒退时，因为agv方向没变，所以下一个方向还是agv方向，故nextDirection = lastDirection;
                                        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
                                                (double) mapService.spinDirection(lastCode).val,     // 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;
                                        lastDirection = nextDirection;
                                    }
                                }
                            }
                        }
@@ -900,7 +1061,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(nextDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -913,10 +1074,7 @@
                        }

                        // run
                        ActionTypeType actionType = ActionTypeType.StraightAheadTurnable;
                        if (reverse) {
                            actionType = ActionTypeType.StraightBackTurnable;
                        }
                        ActionTypeType actionType = reverse ? ActionTypeType.StraightBackTurnable : ActionTypeType.StraightAheadTurnable;
                        CodeGap gap = codeGapService.findByCodeOfBoth(lastCode.getId(), nextCode.getId());
                        actionList.add(new Action(
                                null,    // 编号
@@ -943,6 +1101,25 @@
                // 初始方向值补丁
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        Double firstTurnDir = workDirection;

                        // 巷道逻辑
                        if (!laneBuilder.isInitialized()) {
                            throw new CoolException("lanes are not initialized");
                        }
                        LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
                        // 进入巷道角度
                        Double lastLaneDir = laneService.getLaneDirection(lastLaneDto);
                        if (lastLaneDir != null) {
                            firstTurnDir = lastLaneDir;
                        }

                        if (!lastDirection.equals(firstTurnDir)) {
                            if (!lastCode.getCornerBool()) {
                                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
@@ -951,16 +1128,16 @@
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.TurnCorner.desc,    // 名称
                                mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                (double) mapService.spinDirection(lastCode).val,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(workDirection),   // 动作参数
                                String.valueOf(firstTurnDir),   // 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;
                        lastDirection = firstTurnDir;

                    }
                    first = false;
@@ -996,22 +1173,24 @@
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        // 暂存点放货
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToAgvSite.desc,    // 名称
                                (double) backpackType.lev,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(backpackType.height),   // 动作参数
                                ActionTypeType.ReadyReleaseToAgvSite.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        // 背篓放货
                        if (backupAction) {
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.ReadyReleaseToAgvSite.desc,    // 名称
                                    (double) backpackType.lev,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(backpackType.height),   // 动作参数
                                    ActionTypeType.ReadyReleaseToAgvSite.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                        }
                        break;
                    case DEST_LOC:
                        assert backpackType != null;
@@ -1019,22 +1198,24 @@
                        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");
                        }
                        // 暂存点取货货
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromAgvSite.desc,    // 名称
                                (double) backpackType.lev,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(backpackType.height),   // 动作参数
                                ActionTypeType.ReadyTakeFromAgvSite.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        // 背篓取货
                        if (backupAction) {
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.ReadyTakeFromAgvSite.desc,    // 名称
                                    (double) backpackType.lev,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(backpackType.height),   // 动作参数
                                    ActionTypeType.ReadyTakeFromAgvSite.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                        }

                        // 货架放货
                        Loc destLoc = locService.getById(task.getDestLoc());
@@ -1073,7 +1254,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    (double) mapService.spinDirection(lastCode).val,   // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(oriStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1100,23 +1281,25 @@
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        // 暂存点放货
                        assert backpackType != null;
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToAgvSite.desc,    // 名称
                                (double) backpackType.lev,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(backpackType.height),   // 动作参数
                                ActionTypeType.ReadyReleaseToAgvSite.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        // 背篓放货
                        if (backupAction) {
                            assert backpackType != null;
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.ReadyReleaseToAgvSite.desc,    // 名称
                                    (double) backpackType.lev,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(backpackType.height),   // 动作参数
                                    ActionTypeType.ReadyReleaseToAgvSite.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                        }
                        break;
                    case DEST_STA:
                        // 站点放货
@@ -1135,7 +1318,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(destStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1145,23 +1328,25 @@
                            ));
                            lastDirection = destStaWorkDirection;
                        }
                        // 暂存点取货
                        assert backpackType != null;
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromAgvSite.desc,    // 名称
                                (double) backpackType.lev,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(backpackType.height),   // 动作参数
                                ActionTypeType.ReadyTakeFromAgvSite.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        // 背篓取货
                        if (backupAction) {
                            assert backpackType != null;
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.ReadyTakeFromAgvSite.desc,    // 名称
                                    (double) backpackType.lev,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(backpackType.height),   // 动作参数
                                    ActionTypeType.ReadyTakeFromAgvSite.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                        }
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
                        actionList.add(new Action(
@@ -1192,7 +1377,7 @@
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    (double) mapService.spinDirection(lastCode).val,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(chargeDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
@@ -1267,6 +1452,27 @@

            }

            // 如果充电中，则先断开充电
            if (needUndocking && agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                String undockingCode = Cools.isEmpty(actionList) ? lastCode.getData() : actionList.get(0).getCode();
                // undocking charge
                actionList.add(0, new Action(
                        null,    // 编号
                        null,    // 总线
                        null,    // 任务
                        null,    // 动作号
                        null,    // 优先级
                        ActionTypeType.UndockingCharge.desc,    // 名称
                        null,    // 属性值
                        undockingCode,    // 地面码
                        null,   // 动作参数
                        ActionTypeType.UndockingCharge.val(),    // 动作类型
                        actionPrepareSts,    // 动作进度
                        agvId,    // AGV
                        now    // 工作时间
                ));
            }

            // finish
            actionList.add(new Action(
                    null,    // 编号
@@ -1284,7 +1490,6 @@
                    now    // 工作时间
            ));

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

            // update segment
@@ -1318,6 +1523,9 @@
//                    throw new CoolException("更新Segment失败");
//                }
//            }

            // optimize action list, must have backpack
            List<Action> newActionList = backupAction ? actionSorter.optimizeSort(actionList) : actionList;

            // save action
            int i = newActionList.size();
@@ -1475,6 +1683,11 @@
                        break;
                    case DockingCharge:
                        agvAction.add(new AgvActionItem<>(DockingChargeAction.class)
                                .setQrCode(action.getCode())
                        );
                        break;
                    case UndockingCharge:
                        agvAction.add(new AgvActionItem<>(UndockingChargeAction.class)
                                .setQrCode(action.getCode())
                        );
                        break;
@@ -1677,8 +1890,8 @@
            AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
            agv_06_down.setSerialNo(agv_06_up.getSerialNo());
            agv_06_down.setActionCode(agv_06_up.getActionCode());
            agv_06_down.setResult(success ? 1 : 0);

            //agv_06_down.setResult(success ? 1 : 0);
            agv_06_down.setResult(1);
            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }