| | |
|---|
| | | // 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(), agv_06_up.getQrCode()); |
|---|
| | | Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId()); |
|---|
| | | if (null == currSeg) { |
|---|
| | | log.error("failed to find curr segment [{}]", agv.getUuid()); |
|---|
| | | } else { |
|---|
| | | |
|---|
| | | boolean responseAck = true; |
|---|
| | | // 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: |
|---|
| | | sta = staService.getById(currTask.getOriSta()); |
|---|
| | | success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT); |
|---|
| | | // load sta |
|---|
| | | // remove expiredTime |
|---|
| | | break; |
|---|
| | | case DEST_STA: |
|---|
| | | // todo |
|---|
| | | // place sta |
|---|
| | | sta = staService.getById(currTask.getDestSta()); |
|---|
| | | success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN); |
|---|
| | | break; |
|---|
| | | default: |
|---|
| | | responseAck = false; |
|---|
| | | log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId()); |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | if (responseAck) { |
|---|
| | | |
|---|
| | | // todo:vincent 校验是否可以取放货 |
|---|
| | | } |
|---|
| | | } 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(1); |
|---|
| | | agv_06_down.setResult(success ? 1 : 0); |
|---|
| | | |
|---|
| | | redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down)); |
|---|
| | | } |
|---|
| | | |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 料仓信息包 |
|---|
