rcs-flow.git - Gitblit

			@@ -1,52 +1,55 @@
			package com.zy.acs.manager.core.service;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
			import com.zy.acs.framework.common.Cools;
			import com.zy.acs.framework.common.SnowflakeIdWorker;
			import com.zy.acs.framework.exception.CoolException;
			import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
			import com.zy.acs.common.constant.RedisConstant;
			import com.zy.acs.common.domain.AgvAction;
			import com.zy.acs.common.domain.AgvActionItem;
			import com.zy.acs.common.domain.AgvProtocol;
			import com.zy.acs.common.domain.BaseResult;
			import com.zy.acs.common.domain.protocol.AGV_11_UP;
			import com.zy.acs.common.domain.protocol.AGV_70_UP;
			import com.zy.acs.common.domain.protocol.IMessageBody;
			import com.zy.acs.common.domain.protocol.*;
			import com.zy.acs.common.domain.protocol.action.*;
			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;
			import com.zy.acs.framework.common.Cools;
			import com.zy.acs.framework.common.SnowflakeIdWorker;
			import com.zy.acs.framework.exception.CoolException;
			import com.zy.acs.manager.common.domain.TaskDto;
			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.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.*;
			import com.zy.acs.manager.manager.enums.*;
			import com.zy.acs.manager.manager.service.*;
			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;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.stereotype.Component;
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Propagation;
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.*;
			import java.util.concurrent.TimeUnit;
			import java.util.concurrent.locks.ReentrantLock;
			import java.util.stream.Collectors;

			/**
			* Created by vincent on 2023/6/14
			*/
			@Slf4j
			@Component("mainService")
			@Service("mainService")
			public class MainService {

			private static final int LOCK_TIMEOUT = 5;
			private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
			private final RedisSupport redis = RedisSupport.defaultRedisSupport;

			@Autowired
			private BusService busService;
			@@ -67,6 +70,8 @@
			@Autowired
			private ValidService validService;
			@Autowired
			private AllocateService allocateService;
			@Autowired
			private CodeService codeService;
			@Autowired
			private MapService mapService;
			@@ -85,11 +90,17 @@
			@Autowired
			private SegmentService segmentService;
			@Autowired
			private TrafficService trafficService;
			private LaneService laneService;
			@Autowired
			private AgvModelService agvModelService;
			@Autowired
			private MissionAssignService missionAssignService;
			private LaneBuilder laneBuilder;
			@Autowired
			private ActionSorter actionSorter;
			@Autowired
			private StaReserveService staReserveService;
			@Autowired
			private ConveyorStationService conveyorStationService;

			@SuppressWarnings("all")
			@Transactional
			@@ -108,7 +119,7 @@
			taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());

			// 校验
			List<Task> taskList = validService.validBusDto(taskDtoList);
			List<Task> taskList = validService.validTaskDtoList(taskDtoList);

			// 保存总线
			Date now = new Date();
			@@ -168,8 +179,18 @@
			if (!locService.updateById(oriLoc)) {
			throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
			}

			destSta = staService.getById(task.getDestSta());
			if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
			throw new BusinessException("destSta：" + task.getDestSta$() + " failed to reserve");
			}
			break;
			case STA_TO_LOC:
			oriSta = staService.getById(task.getOriSta());
			if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
			throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to reserve");
			}

			destLoc = locService.getById(task.getDestLoc());
			if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
			throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
			@@ -181,6 +202,15 @@
			}
			break;
			case STA_TO_STA:
			oriSta = staService.getById(task.getOriSta());
			if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
			throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to reserve");
			}

			destSta = staService.getById(task.getDestSta());
			if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
			throw new BusinessException("destSta：" + task.getDestSta$() + " failed to reserve");
			}
			break;
			default:
			break;
			@@ -194,7 +224,7 @@
			* 任务分配给车辆 ( 车辆此时是空闲且静止的 )
			*/
			@Transactional
			public synchronized void infuseAgvForTask(Bus bus) {
			public synchronized void allocateTask(Bus bus) {
			try {
			Date now = new Date();
			List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
			@@ -204,43 +234,248 @@
			);

			if (Cools.isEmpty(taskList)) {
			bus.setBusSts(BusStsType.PROGRESS.val());
			bus.setUpdateTime(now);
			if (!busService.updateById(bus)) {
			log.error("Bus [{}] failed to Update ！！！", bus.getUuid());
			if (bus.getBusSts().equals(BusStsType.RECEIVE.val())) {
			bus.setBusSts(BusStsType.PROGRESS.val());
			bus.setUpdateTime(now);
			if (!busService.updateById(bus)) {
			log.error("Bus [{}] failed to Update ！！！", bus.getUuid());
			}
			}
			return;
			}
			List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());

			Map<String, List<Long>> taskAllot = new HashMap<>();
			for (Task task : taskList) {
			Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
			if (null == agv) {
			log.warn("Task[{}] has an issue， because it failed to checkout agv which is idle...", task.getSeqNum());
			continue;
			}
			// List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
			for (Task t : taskList) {
			String resultAgvNo = allocateService.execute(t
			// inbound
			, (task, agvNo, sta) -> {
			Long agvId = agvService.getAgvId(agvNo);

			// List<Travel> travelList = travelService.list(new LambdaQueryWrapper<Travel>()
			// .eq(Travel::getAgvId, agvId)
			// .eq(Travel::getState, TravelStateType.RUNNING.toString())
			// .orderByDesc(Travel::getCreateTime));
			// if (Cools.isEmpty(travelList)) {
			// throw new BusinessException("[Agv: " + agvNo + "]allocate inbound failed to find travel");
			// }
			// Travel travel = travelList.get(0);
			//
			// List<Segment> currSegments = segmentService.list(new LambdaQueryWrapper<Segment>()
			// .eq(Segment::getAgvId, agvId)
			// .eq(Segment::getTravelId, travel.getId())
			// );
			// load segment
			Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
			if (null == currSeg) {
			throw new BusinessException("[Agv:" + agvNo + "] allocate inbound failed: no roller waiting segment");
			}

			task.setAgvId(agv.getId());
			task.setTaskSts(TaskStsType.WAITING.val());
			task.setIoTime(now);
			task.setUpdateTime(now);
			if (!taskService.updateById(task)) {
			throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
			}
			// get backpack lev
			int backpackLev = 0;
			int backpack = agvService.getBackpack(agvId);
			List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
			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;
			}
			}
			if (backpackLev == 0) {
			throw new BusinessException("[Agv:" + agvNo + "] backpack full, can't allocate inbound");
			}

			if (taskAllot.containsKey(agv.getUuid())) {
			taskAllot.get(agv.getUuid()).add(task.getId());
			} else {
			taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
			}
			// update curr seg
			currSeg.setState(SegmentStateType.INIT.toString());
			currSeg.setUpdateTime(now);
			if (!segmentService.updateById(currSeg)) {
			// 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
			Segment loadSeg = new Segment();
			loadSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
			loadSeg.setTravelId(currSeg.getTravelId());
			loadSeg.setAgvId(agvId);
			loadSeg.setTaskId(task.getId());
			loadSeg.setSerial(currSeg.getSerial() - 1);
			loadSeg.setEndNode(sta.getCode());
			loadSeg.setPosType(TaskPosDto.PosType.ORI_STA.toString());
			loadSeg.setState(SegmentStateType.WAITING.toString());
			loadSeg.setBackpack(backpackLev);
			loadSeg.setCreateTime(now);
			loadSeg.setUpdateTime(now);
			if (!segmentService.save(loadSeg)) {
			// log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
			throw new CoolException("failed to save segment [" + loadSeg.getGroupId() + "-" + loadSeg.getSerial() + "] failed");
			}

			// place segment
			TaskTypeType taskType = Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()));
			TaskPosDto.PosType posType;
			Code endCode;
			switch (taskType) {
			case STA_TO_LOC:
			posType = TaskPosDto.PosType.DEST_LOC;
			Loc destLoc = locService.getById(task.getDestLoc());
			endCode = codeService.getCacheById(destLoc.getCode());
			break;
			case STA_TO_STA:
			posType = TaskPosDto.PosType.DEST_STA;
			Sta destSta = staService.getById(task.getDestSta());
			endCode = codeService.getCacheById(destSta.getCode());
			break;
			default:
			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(placeSegSerial);
			placeSeg.setEndNode(endCode.getId());
			placeSeg.setPosType(posType.toString());
			placeSeg.setState(SegmentStateType.INIT.toString());
			placeSeg.setBackpack(backpackLev);
			placeSeg.setCreateTime(now);
			placeSeg.setUpdateTime(now);
			if (!segmentService.save(placeSeg)) {
			// log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
			throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
			}

			// update task
			task.setAgvId(agvId);
			task.setTaskSts(TaskStsType.ASSIGN.val());
			task.setIoTime(now);
			task.setUpdateTime(now);
			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);
			task.setUpdateTime(now);
			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());
			// continue;
			// }
			// task.setAgvId(agvService.getAgvId(agvNo));
			// task.setTaskSts(TaskStsType.WAITING.val());
			// task.setIoTime(now);
			// task.setUpdateTime(now);
			// if (!taskService.updateById(task)) {
			// throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
			// }
			}

			// bus.setUpdateTime(now);
			// if (!busService.updateById(bus)) {
			// throw new BusinessException(bus.getSeqNum() + "总线更新失败");
			// }
			} catch (Exception e) {
			log.error("mainService.infuseAgvForTask", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			@@ -249,56 +484,51 @@

			/**
			* 解析取放货集合任务,进行最优的排列组合顺序 ( 车辆此时是空闲且静止的 )
			* todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)}
			*/
			@Transactional
			public synchronized void mergeMajorTask(Long agvId, List<Task> taskList) {
			if (Cools.isEmpty(taskList)) { return; }
			boolean lockAcquired = false;
			@Transactional(propagation = Propagation.REQUIRES_NEW)
			public void buildMajorTask(Long agvId, List<Task> taskList) {
			if (Cools.isEmpty(agvId, taskList)) { return; }
			try {
			if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
			throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
			}
			Date now = new Date();
			final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);

			// valid -----------------------------------------------
			Agv agv = agvService.getById(agvId);
			if (!agvService.judgeEnable(agv.getId(), agvDetail -> agvDetail.getVol() > agv.getChargeLine())) {
			throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
			if (!agvService.judgeEnable(agv.getId(), false)) {
			return;
			}

			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...");
			}

			AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
			assert agvDetail != null;
			if (agvDetail.getPos() == 0) {
			if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
			throw new CoolException("AGV[" + agv.getUuid() + "]当前不在定位...");
			}
			if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()))
			\|\| !Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
			throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the segment in running...");
			}

			// execute ----------------------------------------------------
			Date now = new Date();
			// sort and sub
			taskList.sort(new Comparator<Task>() {
			@Override
			public int compare(Task o1, Task o2) {
			return 0;
			return o2.getPriority() - o1.getPriority();
			}
			});
			Integer backpack = agvService.getBackpack(agv);
			Integer backpack = agvService.getBackpack(agvId);
			if (taskList.size() > backpack) {
			taskList = taskList.subList(0, backpack);
			}

			AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
			List<AgvBackpackDto> backpackDtoList = new ArrayList<>();

			/**
			* single agvId
			* 同巷道归类
			* same lane for every single agvId
			*
			* key: y + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
			* key: y(val) + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
			* val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
			*/
			Map<String, List<TaskPosDto>> groups = new HashMap<>();

			List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
			final String sameGroupXy = configService.getVal("sameGroupXy", String.class);

			int backpackLev = 0;
			for (Task task : taskList) {
			@@ -313,8 +543,8 @@
			oriLoc = locService.getById(task.getOriLoc());
			destLoc = locService.getById(task.getDestLoc());

			startCode = codeService.getById(oriLoc.getCode());
			endCode = codeService.getById(destLoc.getCode());
			startCode = codeService.getCacheById(oriLoc.getCode());
			endCode = codeService.getCacheById(destLoc.getCode());

			TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
			TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
			@@ -323,8 +553,8 @@
			oriLoc = locService.getById(task.getOriLoc());
			destSta = staService.getById(task.getDestSta());

			startCode = codeService.getById(oriLoc.getCode());
			endCode = codeService.getById(destSta.getCode());
			startCode = codeService.getCacheById(oriLoc.getCode());
			endCode = codeService.getCacheById(destSta.getCode());

			TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
			TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
			@@ -333,8 +563,8 @@
			oriSta = staService.getById(task.getOriSta());
			destLoc = locService.getById(task.getDestLoc());

			startCode = codeService.getById(oriSta.getCode());
			endCode = codeService.getById(destLoc.getCode());
			startCode = codeService.getCacheById(oriSta.getCode());
			endCode = codeService.getCacheById(destLoc.getCode());

			TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
			TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
			@@ -343,8 +573,8 @@
			oriSta = staService.getById(task.getOriSta());
			destSta = staService.getById(task.getDestSta());

			startCode = codeService.getById(oriSta.getCode());
			endCode = codeService.getById(destSta.getCode());
			startCode = codeService.getCacheById(oriSta.getCode());
			endCode = codeService.getCacheById(destSta.getCode());

			TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
			TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
			@@ -362,8 +592,40 @@
			}

			/**
			* List<TaskPosDto>: task list on the same channel
			* 1.Map<String, List<TaskPosDto>> groups
			*
			* key: 1000 + ORIGIN
			* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
			*
			* key: 3000 + ORIGIN
			* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
			*
			* key: 2000 + ORIGIN
			* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
			*
			* key: 1000 + DESTINATION
			* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
			*
			* key: 2000 + DESTINATION
			* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
			*
			* ......
			*
			* 2.ArrayList<List<TaskPosDto>> list
			* [
			* [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
			* [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
			* [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
			* ......
			* ]
			*/

			/**
			* 对所有巷道进行有序排序，先是针对List为一个单位，对他们进行FirstWeight排序，相当于表1的key的数值进行有序排序
			* List<TaskPosDto>: task list on the same lane
			* ArrayList<List<TaskPosDto>>: all the task list by one agv
			*
			* tip: ORI 和 DEST 永远不会存在同一个 List
			*/
			ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
			list.sort((o1, o2) -> {
			@@ -371,12 +633,44 @@
			double o2CompVal = (o2.get(0).getFirstWeight(sameGroupXy) * 100) + o2.get(0).getPosType().compOffset;
			return (int) (o1CompVal - o2CompVal);
			});

			// 针对Dto，按照SecondWeight进行排序
			for (List<TaskPosDto> taskPosDtoList : list) {
			taskPosDtoList.sort((o1, o2) -> (int) (o1.getSecondWeight(sameGroupXy) * 100 - o2.getSecondWeight(sameGroupXy) * 100));
			}

			// re-order by agv current position
			Code currCode = codeService.getCacheById(agvDetail.getRecentCode());
			Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};

			List<List<TaskPosDto>> pickGroups = new ArrayList<>();
			List<List<TaskPosDto>> dropGroups = new ArrayList<>();

			for (List<TaskPosDto> group : list) {
			// Assume 一个任务组中所有TaskPosDto的PosType.brief相同
			TaskPosDto.PosType posType = group.get(0).getPosType();
			if (posType == TaskPosDto.PosType.ORI_LOC \|\| posType == TaskPosDto.PosType.ORI_STA) {
			pickGroups.add(group);
			} else if (posType == TaskPosDto.PosType.DEST_LOC \|\| posType == TaskPosDto.PosType.DEST_STA) {
			dropGroups.add(group);
			} else {
			// import tip: the list must only contain ORIGIN and DESTINATION
			log.error("the list must only contain ORIGIN and DESTINATION");
			}
			}

			currPosition = allocateService.pac(currPosition, pickGroups);
			currPosition = allocateService.pac(currPosition, dropGroups);

			List<List<TaskPosDto>> reorderedList = new ArrayList<>();
			reorderedList.addAll(pickGroups);
			reorderedList.addAll(dropGroups);

			list.clear();
			list.addAll(reorderedList);


			// 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));
			@@ -384,6 +678,8 @@
			travel.setTaskContent(JSON.toJSONString(list));
			travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList())));
			travel.setState(TravelStateType.RUNNING.toString());
			travel.setCreateTime(now);
			travel.setUpdateTime(now);
			if (!travelService.save(travel)) {
			throw new BusinessException("任务组保存失败");
			}
			@@ -407,6 +703,8 @@
			segment.setPosType(taskPosDto.getPosType().toString());
			segment.setBackpack(backpackType.lev);
			segment.setState(SegmentStateType.INIT.toString());
			segment.setCreateTime(now);
			segment.setUpdateTime(now);
			segmentList.add(segment);
			}
			}
			@@ -423,6 +721,7 @@
			// 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");
			@@ -431,89 +730,92 @@

			} catch (Exception e) {

			log.error("mainService.mergeMajorTask[task]", e);
			log.error("mainService.buildMajorTask[task]", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			} finally {

			if (lockAcquired) {
			this.lock.unlock();
			}
			}
			}


			/**
			* 充电回待机位任务
			*/
			@Transactional
			public synchronized boolean buildMinorTask(Agv agv, AgvDetail agvDetail, TaskTypeType taskType, String destination) {
			if (Cools.isEmpty(agv, taskType)) { return false; }
			boolean lockAcquired = false;
			@Transactional(propagation = Propagation.REQUIRES_NEW) // although there is a Transactional here that the lock is isolated, but we can't join the caller's Transactional
			public boolean buildMinorTask(Long agvId, TaskTypeType taskType, String destination, Jam jam) {
			if (Cools.isEmpty(agvId, taskType)) { return false; }
			try {
			if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
			throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
			}

			if (null == agvDetail) {
			agvDetail = agvDetailService.selectByAgvId(agv.getId());
			}
			if (!agvService.judgeEnable(agv.getId())) {
			String agvNo = agvService.getAgvNo(agvId);
			if (!agvService.judgeEnable(agvId)) {
			return false;
			}
			if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
			throw new CoolException("AGV[" + agvNo + "] failed to assign，because already has the task in running...");
			}
			if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString()))
			\|\| !Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.RUNNING.toString()))) {
			throw new CoolException("AGV[" + agvNo + "] failed to assign，because already has the segment in running...");
			}

			Date now = new Date();
			AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
			Code endCode = null;
			switch (taskType) {
			case TO_CHARGE:
			case TO_STANDBY:
			List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
			.eq(FuncSta::getType, FuncStaType.query(taskType).toString())
			.eq(FuncSta::getAgvId, agv.getId())
			.eq(FuncSta::getState, FuncStaStateType.IDLE.toString())
			.eq(FuncSta::getStatus, StatusType.ENABLE.val)
			);
			if (!Cools.isEmpty(funcStaList)) {
			FuncSta funcSta = funcStaList.get(0);
			endCode = codeService.getById(funcSta.getCode());
			List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agvId);
			if (!Cools.isEmpty(idleFunStaList)) {
			FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
			endCode = codeService.getCacheById(funcSta.getCode());
			}
			if (null == endCode) {
			log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agvNo, taskType.toString());
			}
			break;
			case MOVE:
			endCode = codeService.selectByData(destination);
			endCode = codeService.getCacheByData(destination);
			break;
			default:
			return false;
			}

			if (null == endCode) {
			log.error("{}号车辆建立功能任务失败，无法检索到目标定位，TaskTypeType：{}", agv.getUuid(), taskType.toString());
			return false;
			}
			if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
			throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agvNo + "]!!!");
			}

			Task task = new Task();
			task.setAgvId(agv.getId());
			task.setAgvId(agvId);
			task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
			List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
			task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
			task.setOriCode(agvDetail.getCode());
			task.setDestCode(endCode.getId());
			// lane
			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());
			task.setTaskType(taskType.val());
			task.setIoTime(now);
			task.setStartTime(now);
			if (!taskService.save(task)) {
			throw new BusinessException(task.getSeqNum() + "任务保存失败");
			throw new BusinessException(task.getSeqNum() + " failed to save");
			}

			// 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));
			travel.setAgvId(agv.getId());
			travel.setAgvId(agvId);
			// travel.setTaskContent(JSON.toJSONString(list));
			travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
			travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
			travel.setState(TravelStateType.RUNNING.toString());
			if (!travelService.save(travel)) {
			throw new BusinessException("任务组保存失败");
			throw new BusinessException("travel failed to save");
			}

			// generate segment
			@@ -538,7 +840,7 @@
			Segment segment = new Segment();
			segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
			segment.setTravelId(travel.getId());
			segment.setAgvId(agv.getId());
			segment.setAgvId(agvId);
			segment.setTaskId(task.getId());
			segment.setSerial(segSerial);
			segment.setEndNode(endCode.getId());
			@@ -552,7 +854,12 @@
			next.setState(SegmentStateType.WAITING.toString());
			}
			if (!segmentService.save(next)) {
			throw new BusinessException("任务组保存失败");
			throw new BusinessException("segment failed to save");
			} else {
			if (null != jam && i == 0) {
			jam.setAvoSeg(next.getId());
			jam.setAvoCode(endCode.getId());
			}
			}
			}

			@@ -564,7 +871,7 @@
			destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
			destFuncSta.setUpdateTime(now);
			if (!funcStaService.updateById(destFuncSta)) {
			log.error("FuncSta [{}] 更新状态失败！！！", destFuncSta.getName());
			log.error("FuncSta [{}] failed to update ！！！", destFuncSta.getName());
			}
			break;
			case MOVE:
			@@ -579,11 +886,6 @@
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

			return false;
			} finally {

			if (lockAcquired) {
			this.lock.unlock();
			}
			}
			}

			@@ -591,46 +893,44 @@
			* 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();
			JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
			Agv agv = agvService.getById(agvId);
			if (!agvService.judgeEnable(agv.getId())) {
			throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
			}
			long actionPrepareSts = ActionStsType.PREPARE.val();
			// 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...");
			// }

			AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
			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;

			AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
			assert agvDetail != null;
			if (agvDetail.getPos() == 0) {
			if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
			throw new CoolException("AGV[" + agv.getUuid() + "]当前不在定位...");
			}
			}
			AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);

			List<Action> actionList = new ArrayList<>();
			// start node
			Code lastCode = codeService.getById(agvDetail.getRecentCode());
			Code lastCode = codeService.getCacheById(agvDetail.getRecentCode());
			Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
			if (!lastCode.getData().equals(pathList.get(0))) {
			throw new CoolException("AGV[" + agv.getUuid() + "]定位偏移...");
			throw new CoolException("AGV[" + agvNo + "]定位偏移...");
			}

			Double lastDirection = agvDetail.getAgvAngle();
			boolean first = true;

			for (Segment segment : segmentList) {

			// 分段所属的Task
			Task task = taskService.getById(segment.getTaskId());

			// 节点条码
			Code code = codeService.getById(segment.getEndNode());
			Code code = codeService.getCacheById(segment.getEndNode());

			// 需要走行
			if (!lastCode.getData().equals(code.getData())) {
			@@ -644,15 +944,115 @@

			String next = pathListPart.get(i);

			Code nextCode = codeService.selectByData(next);
			Double nextDirection = mapService.calculateDirection(lastCode, nextCode);
			Code nextCode = codeService.getCacheByData(next);
			// 车头朝前的下一个行走方向
			Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

			// 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;

			// 巷道逻辑
			if (!laneBuilder.isInitialized()) {
			throw new CoolException("lanes are not initialized");
			}
			if (!lastDirection.equals(nextDirection) \|\| actionList.size() == 0) {
			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;
			}
			} 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 {

			// 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;
			}
			// 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;
			}
			}
			}
			}

			// 第一个动作一定是 turn
			if (actionList.isEmpty()) {
			// turn
			actionList.add(new Action(
			null, // 编号
			@@ -661,24 +1061,20 @@
			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
			ActionStsType.PREPARE.val(), // 动作进度
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));

			lastDirection = nextDirection;

			}

			// 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
			@@ -691,7 +1087,7 @@
			lastCode.getData(), // 地面码
			String.valueOf(gap.getDistance()), // 动作参数
			actionType.val(), // 动作类型
			ActionStsType.PREPARE.val(), // 动作进度
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			@@ -705,6 +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
			@@ -713,16 +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
			ActionStsType.PREPARE.val(), // 动作进度
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));

			lastDirection = workDirection;
			lastDirection = firstTurnDir;

			}
			first = false;
			@@ -730,34 +1145,19 @@

			// 作业点动作
			AgvDirectionType agvDirectionType;
			Double staWorkDirection;
			AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
			switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
			case ORI_LOC:
			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
			ActionStsType.PREPARE.val(), // 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");
			}
			// 货架取货
			Loc oriLoc = locService.getById(task.getOriLoc());
			// 计算左右方向
			agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, oriLoc, lastCode);
			agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			@@ -769,70 +1169,58 @@
			lastCode.getData(), // 地面码
			String.valueOf(oriLoc.getOffset()), // 动作参数
			ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 动作类型
			ActionStsType.PREPARE.val(), // 动作进度
			actionPrepareSts, // 动作进度
			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
			ActionStsType.PREPARE.val(), // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			break;
			case DEST_LOC:
			assert backpackType != null;
			// 检验方向
			if (!lastDirection.equals(workDirection)) {
			// turn
			// 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.TurnCorner.desc, // 名称
			mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
			ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称
			(double) backpackType.lev, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(workDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			ActionStsType.PREPARE.val(), // 动作进度
			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
			));
			lastDirection = workDirection;
			}
			// 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
			ActionStsType.PREPARE.val(), // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			break;
			case DEST_LOC:
			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");
			}
			// 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());
			// 计算左右方向
			agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, destLoc, lastCode);
			agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			@@ -844,18 +1232,142 @@
			lastCode.getData(), // 地面码
			String.valueOf(destLoc.getOffset()), // 动作参数
			ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 动作类型
			ActionStsType.PREPARE.val(), // 动作进度
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			break;
			case ORI_STA:
			// 站点取货
			Sta oriSta = staService.getById(task.getOriSta());
			Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
			// 检验方向
			if (!lastDirection.equals(oriStaWorkDirection)) {
			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
			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(oriStaWorkDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			lastDirection = oriStaWorkDirection;
			}
			// 计算货叉工作方向
			staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
			actionList.add(new Action(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyTakeFromConveyorSta.desc, // 名称
			staWorkDirection, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(oriSta.getOffset()), // 动作参数
			ActionTypeType.ReadyTakeFromConveyorSta.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
			Sta destSta = staService.getById(task.getDestSta());
			Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
			// 检验方向
			if (!lastDirection.equals(destStaWorkDirection)) {
			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
			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(destStaWorkDirection), // 动作参数
			ActionTypeType.TurnCorner.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			lastDirection = destStaWorkDirection;
			}
			// 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(
			null, // 编号
			task.getBusId(), // 总线
			task.getId(), // 任务
			null, // 动作号
			null, // 优先级
			ActionTypeType.ReadyReleaseToConveyorSta.desc, // 名称
			staWorkDirection, // 属性值
			lastCode.getData(), // 地面码
			String.valueOf(destSta.getOffset()), // 动作参数
			ActionTypeType.ReadyReleaseToConveyorSta.val(), // 动作类型
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			break;
			case TO_CHARGE:
			// 检验方向
			FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
			FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
			Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
			if (!lastDirection.equals(chargeDirection)) {
			actionList.add(new Action(
			@@ -865,11 +1377,11 @@
			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
			ActionStsType.PREPARE.val(), // 动作进度
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			@@ -888,13 +1400,30 @@
			lastCode.getData(), // 地面码
			null, // 动作参数
			ActionTypeType.DockingCharge.val(), // 动作类型
			ActionStsType.PREPARE.val(), // 动作进度
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));
			break;
			case TO_STANDBY:
			// FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
			// load lift
			// actionList.add(new Action(
			// null, // 编号
			// null, // 总线
			// task.getId(), // 任务
			// null, // 动作号
			// null, // 优先级
			// ActionTypeType.LoadPlatformLift.desc, // 名称
			// null, // 属性值
			// lastCode.getData(), // 地面码
			// String.valueOf(0), // 动作参数
			// ActionTypeType.LoadPlatformLift.val(), // 动作类型
			// actionPrepareSts, // 动作进度
			// agvId, // AGV
			// now // 工作时间
			// ));
			// turn
			// FuncSta standByFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.STANDBY.toString());
			// Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
			// if (!lastDirection.equals(standByDirection)) {
			// actionList.add(new Action(
			@@ -908,7 +1437,7 @@
			// lastCode.getData(), // 地面码
			// String.valueOf(standByDirection), // 动作参数
			// ActionTypeType.TurnCorner.val(), // 动作类型
			// ActionStsType.PREPARE.val(), // 动作进度
			// actionPrepareSts, // 动作进度
			// agvId, // AGV
			// now // 工作时间
			// ));
			@@ -923,6 +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
			@@ -935,50 +1485,69 @@
			lastCode.getData(), // 地面码
			null, // 动作参数
			ActionTypeType.FinishPath.val(), // 动作类型
			ActionStsType.PREPARE.val(), // 动作进度
			actionPrepareSts, // 动作进度
			agvId, // AGV
			now // 工作时间
			));

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

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

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


			String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);

			// update segment
			for (Segment item : segmentList) {
			LambdaUpdateWrapper<Segment> uw = new LambdaUpdateWrapper<Segment>()
			.eq(Segment::getId, item.getId())
			.eq(Segment::getState, item.getState())
			.set(Segment::getGroupId, groupId)
			.set(Segment::getState, SegmentStateType.RUNNING.toString())
			.set(Segment::getStartTime, now)
			.set(Segment::getUpdateTime, now);
			if (algoStartTime != null) {
			uw.set(Segment::getAlgoTime, (int) (now.getTime() - algoStartTime.getTime()));
			}
			if (!segmentService.update(uw)) {
			// segment 原子性保证
			throw new CoolException("更新Segment失败: segmentId=" + item.getId() + " state not WAITING");
			}
			}

			// update segment
			// for (Segment item : segmentList) {
			// item.setGroupId(groupId);
			// item.setState(SegmentStateType.RUNNING.toString());
			// item.setStartTime(now);
			// 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");
			// }
			// }

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

			// 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;
			}

			// update segment
			for (Segment item : segmentList) {
			item.setGroupId(groupId);
			item.setState(SegmentStateType.RUNNING.toString());
			item.setUpdateTime(now);
			if (!segmentService.updateById(item)) {
			throw new CoolException("更新Segment失败");
			}
			if (!actionService.saveBatch(newActionList)) {
			throw new BusinessException("group[" + groupId + "] 动作保存失败");
			}

			log.info(agv.getUuid() + "号Agv动作组装完成，指令数量：" + newActionList.size());
			log.info("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size());
			} catch (Exception e) {
			log.error("mainService.generateAction", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

			if (!Cools.isEmpty(pathList)) {
			pathList.remove(0);
			mapDataDispatcher.clearDynamicMatrixByCodeList(null, pathList);
			List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, pathList);
			mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList);
			}

			throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);
			@@ -997,21 +1566,32 @@
			if (Cools.isEmpty(actionList)) {
			return;
			}

			Long agvId = actionList.get(0).getAgvId();
			String agvNo = agvService.getAgvNo(agvId);
			if (!agvService.judgeOnline(agvId)) {
			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);
			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
			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");
			@@ -1019,11 +1599,8 @@
			}
			}


			Agv agv = agvService.getById(actionList.get(0).getAgvId());
			AgvAction agvAction = new AgvAction(agv.getUuid(), actionGroupId);
			AgvAction agvAction = new AgvAction(agvNo, actionGroupId);
			for (Action action : actionList) {

			switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
			case TurnCorner:
			agvAction.add(new AgvActionItem<>(TurnCornerAction.class)
			@@ -1057,6 +1634,13 @@
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			);
			break;
			case ReadyTakeFromConveyorSta:
			agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			);
			break;
			case ReadyTakeFromAgvSite:
			agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
			.setVal(action.getVal().intValue())
			@@ -1066,6 +1650,20 @@
			break;
			case ReadyReleaseToShelvesLoc:
			agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			);
			break;
			case LoadPlatformLift:
			agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			);
			break;
			case ReadyReleaseToConveyorSta:
			agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
			.setVal(action.getVal().intValue())
			.setQrCode(action.getCode())
			.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
			@@ -1085,6 +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;
			@@ -1204,81 +1807,92 @@
			.orderByAsc(Segment::getSerial)
			);

			// task
			for (Segment segment : segmentList) {
			boolean taskComplete = false;

			Task task = taskService.getById(segment.getTaskId()); assert null != task;
			TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl()); assert null != typeType;

			TaskPosDto.PosType posType = TaskPosDto.queryPosType(segment.getPosType());
			switch (Objects.requireNonNull(posType)) {
			case ORI_STA:
			case ORI_LOC:
			break;
			case DEST_STA:
			case DEST_LOC:
			case TO_CHARGE:
			case TO_STANDBY:
			if (segment.getEndNode().equals(task.getDestCode())) {
			taskComplete = true;
			}
			break;
			case MOVE:
			if (segment.getEndNode().equals(task.getDestCode())) {
			if (typeType.equals(TaskTypeType.MOVE)) {
			taskComplete = true;
			}
			}
			break;
			default:
			break;
			}

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

			task.setTaskSts(TaskStsType.COMPLETE.val());
			task.setEndTime(now);
			task.setUpdateTime(now);
			if (!taskService.updateById(task)) {
			log.error("Task [{}] 更新失败！！！", task.getSeqNum());
			} else {
			log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum());
			}

			}
			}

			// action
			List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
			.eq(Action::getGroupId, serialNo)
			.eq(Action::getActionSts, ActionStsType.ISSUED.val())
			);
			for (Action action : actionList) {
			action.setActionSts(ActionStsType.FINISH.val());
			action.setEndTime(now);
			action.setUpdateTime(now);
			if (!actionService.updateById(action)) {
			log.error("Action [{}] 更新失败！！！", action.getPriority() + " - " + action.getName());
			}
			}

			// segment
			for (Segment segment : segmentList) {
			segment.setState(SegmentStateType.FINISH.toString());
			segment.setUpdateTime(now);
			if (!segmentService.updateById(segment)) {
			log.error("Segment [{}] 更新失败！！！", segment.getGroupId() + " - " + segment.getSerial());
			}
			}

			// segment call back
			trafficService.callback(segmentList);
			// settlement
			this.settleSegmentList(segmentList, serialNo);

			log.info("Agv [{}] {}作业完毕 ==========>> ", protocol.getAgvNo(), serialNo);

			}
			}

			// 取放货请求包
			if (msgBody instanceof AGV_06_UP) {
			AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;
			log.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));

			boolean success = false;

			try {
			Code code = codeService.getCacheByData(agv_06_up.getQrCode());

			// query current segment
			Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
			if (null == currSeg) {
			log.error("failed to find curr segment [{}]", agv.getUuid());
			} else {

			// query current task
			Task currTask = taskService.getById(currSeg.getTaskId());
			if (currTask == null \|\| !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {

			log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
			} else {

			Sta sta;
			TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
			assert null != posType;
			switch (posType) {
			case ORI_LOC:
			case DEST_LOC:
			success = true;
			break;
			case ORI_STA:
			// load from sta
			sta = staService.getById(currTask.getOriSta());
			// 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 to sta
			sta = staService.getById(currTask.getDestSta());
			// 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);
			}

			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(1);
			redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
			}

			// 料仓信息包
			@@ -1289,4 +1903,86 @@
			}
			}

			@Transactional
			public void settleSegmentList(List<Segment> segmentList, String serialNo) {
			if (Cools.isEmpty(segmentList)) {
			return;
			}
			Date now = new Date();

			// task
			for (Segment segment : segmentList) {
			boolean taskComplete = false;

			Task task = taskService.getById(segment.getTaskId()); assert null != task;
			TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl()); assert null != typeType;

			TaskPosDto.PosType posType = TaskPosDto.queryPosType(segment.getPosType());
			switch (Objects.requireNonNull(posType)) {
			case ORI_STA:
			case ORI_LOC:
			break;
			case DEST_STA:
			case DEST_LOC:
			case TO_CHARGE:
			case TO_STANDBY:
			if (segment.getEndNode().equals(task.getDestCode())) {
			taskComplete = true;
			}
			break;
			case MOVE:
			if (segment.getEndNode().equals(task.getDestCode())) {
			if (typeType.equals(TaskTypeType.MOVE)) {
			taskComplete = true;
			}
			}
			break;
			default:
			break;
			}

			if (taskComplete) {
			task.setTaskSts(TaskStsType.COMPLETE.val());
			task.setEndTime(now);
			task.setUpdateTime(now);
			if (!taskService.updateById(task)) {
			log.error("Task [{}] 更新失败！！！", task.getSeqNum());
			} else {
			taskService.maintainLocAndSta(task);
			log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum());
			}

			}
			}

			// action, follow by groupId
			if (!Cools.isEmpty(serialNo)) {
			List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
			.eq(Action::getGroupId, serialNo)
			.eq(Action::getActionSts, ActionStsType.ISSUED.val())
			);
			for (Action action : actionList) {
			action.setActionSts(ActionStsType.FINISH.val());
			action.setEndTime(now);
			action.setUpdateTime(now);
			if (!actionService.updateById(action)) {
			log.error("Action [{}] 更新失败！！！", action.getPriority() + " - " + action.getName());
			}
			}
			}

			// segment
			for (Segment segment : segmentList) {
			segment.setState(SegmentStateType.FINISH.toString());
			segment.setEndTime(now);
			segment.setUpdateTime(now);
			if (!segmentService.updateById(segment)) {
			log.error("Segment [{}] 更新失败！！！", segment.getGroupId() + " - " + segment.getSerial());
			}
			}

			// segment call back
			segmentService.processNext(segmentList);
			}

			}