#

vincentlu

22 小时以前 debea8129a05b55bdaafb01041c00027c38f3c6a

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

@@ -11,6 +11,7 @@
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.Base62;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
@@ -272,12 +273,12 @@

                            // get backpack lev
                            int backpackLev = 0;
                            int backpack = agvService.getBackpack(agvId);
                            int backpackCap = agvService.getBackpack(agvId);
                            List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
                            if (usedBackpacks.size() >= backpack) {
                            if (usedBackpacks.size() >= backpackCap) {
                                throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
                            }
                            for (int lev = 1; lev <= backpack; lev++) {
                            for (int lev = 1; lev <= backpackCap; lev++) {
                                if (!usedBackpacks.contains(lev)) {
                                    backpackLev = lev;
                                    break;
@@ -512,9 +513,9 @@
                    return o2.getPriority() - o1.getPriority();
                }
            });
            Integer backpack = agvService.getBackpack(agvId);
            if (taskList.size() > backpack) {
                taskList = taskList.subList(0, backpack);
            Integer backpackCap = agvService.getBackpack(agvId);
            if (taskList.size() > backpackCap) {
                taskList = taskList.subList(0, backpackCap);
            }

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
@@ -788,7 +789,8 @@
            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.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
            task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));
            task.setOriCode(agvDetail.getCode());
            task.setDestCode(endCode.getId());
            // lane
@@ -993,7 +995,7 @@
                                reverse = true;
                            }
                            nextDirection = nextLaneDir; // 防止 第一个动作一定是 turn 出问题
                        } else if (null != lastLaneDir) { // todo turn 环形直角
                        } else if (null != lastLaneDir) { // turn 环形直角不应该存在于lane中
                            final double oppLastLaneDir = (lastLaneDir + 180) % 360;

                            if (!lastDirection.equals(lastLaneDir)) {
@@ -1868,6 +1870,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                log.info("AGV[{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            case DEST_STA:
@@ -1883,6 +1886,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                log.info("AGV[{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            default:
@@ -1899,8 +1903,7 @@
            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);
            agv_06_down.setResult(success ? 1 : 0);
            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }