#

luxiaotao1123

2025-01-15 fd6d26f8ffe6a37533e741337f3eca9134d934c7

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -8,10 +8,7 @@
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.AvoidWaveCalculator;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.core.service.ThreadPoolRegulator;
import com.zy.acs.manager.core.service.TrafficService;
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.ActionStsType;
@@ -49,6 +46,8 @@
    private TaskService taskService;
    @Autowired
    private MainService mainService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
@@ -105,21 +104,21 @@
            case MOVE:
                Code endCode = null;
                if (!Cools.isEmpty(param.getEndCode())) {
                    endCode = codeService.getById(param.getEndCode());
                    endCode = codeService.getCacheById(param.getEndCode());
                }
                if (!Cools.isEmpty(param.getEndCodeStr())) {
                    endCode = codeService.selectByData(param.getEndCodeStr());
                    endCode = codeService.getCacheByData(param.getEndCodeStr());
                }
                if (null == endCode) {
                    return R.error();
                }
                if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskMode(), endCode.getData())) {
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
                    return R.error();
                }
                break;
            case TO_CHARGE:
            case TO_STANDBY:
                if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskMode(), null)) {
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
                    return R.error();
                }
                break;
@@ -162,7 +161,9 @@
                task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));

                task.setOriLoc(oriLoc.getId());
                task.setOriCode(oriLoc.getCode());
                task.setDestLoc(destLoc.getId());
                task.setDestCode(destLoc.getCode());

                task.setTaskType(param.getTaskMode().val());
                task.setTaskSts(TaskStsType.WAITING.val());