#

vincentlu

2025-12-11 d0a010eb5d2c4c78f4c97300361fe87855a7c78f

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

@@ -249,10 +249,12 @@
            );

            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;
            }
@@ -1112,7 +1114,24 @@
                        ));
                        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(
@@ -1302,6 +1321,13 @@
                                .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())