#

luxiaotao1123

2025-01-15 fd6d26f8ffe6a37533e741337f3eca9134d934c7

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

@@ -1,7 +1,6 @@
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.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
@@ -15,6 +14,7 @@
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.AgvSpeedType;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -22,7 +22,6 @@
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.common.utils.CommonUtil;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.TaskPosDto;
@@ -32,6 +31,7 @@
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;
@@ -94,6 +94,8 @@
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;
    @Autowired
    private ActionSorter actionSorter;


    @SuppressWarnings("all")
@@ -221,7 +223,7 @@
            for (Task task : taskList) {
                Agv agv = allocateService.execute(task);
                if (null == agv) {
                    log.warn("Task[{}] has an issue， because it failed to checkout agv which is idle...", task.getSeqNum());
//                    log.warn("Task[{}] has an issue， because it failed to checkout agv which is idle...", task.getSeqNum());
                    continue;
                }
                task.setAgvId(agv.getId());
@@ -248,8 +250,8 @@
        try {
            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), true)) {
                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...");
@@ -299,8 +301,8 @@
                        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);
@@ -309,8 +311,8 @@
                        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);
@@ -319,8 +321,8 @@
                        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);
@@ -329,8 +331,8 @@
                        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);
@@ -350,13 +352,19 @@
            /**
             * 1.Map<String, List<TaskPosDto>> groups
             *
             * key: 1000 + ORI_LOC
             * key: 1000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 3000 + ORI_LOC
             * key: 3000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 2000 + ORI_LOC
             * 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),...]
             *
             * ......
@@ -374,6 +382,8 @@
             * 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) -> {
@@ -387,48 +397,35 @@
            }

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

            List<TaskPosDto> theFirstOne = list.get(0);
            List<TaskPosDto> theLastOne = list.get(list.size() - 1);
            List<List<TaskPosDto>> pickGroups = new ArrayList<>();
            List<List<TaskPosDto>> dropGroups = new ArrayList<>();

            if (list.size() == 1) {
                TaskPosDto head = theFirstOne.get(0);
                TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);

                int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
                int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());

                if (distanceByTail < distanceByHead) {
                    Collections.reverse(theFirstOne);
                }

            } else {
                TaskPosDto headOfFirst = theFirstOne.get(0);
                TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);

                TaskPosDto headOfLast = theLastOne.get(0);
                TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);

                int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
                int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());

                int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
                int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());

                if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
                    Collections.reverse(list);

                    if (distanceByTailOfLast < distanceByHeadOfLast) {
                        Collections.reverse(theLastOne);
                    }
            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 {
                    if (distanceByTailOfFirst < distanceByHeadOfFirst) {
                        Collections.reverse(theFirstOne);
                    }
                    // 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
            Travel travel = new Travel();
@@ -477,6 +474,7 @@
            // 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");
@@ -495,37 +493,38 @@
     * 充电 回待机位任务
     */
    @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(Agv agv, TaskTypeType taskType, String destination, Jam jam) {
        if (Cools.isEmpty(agv, taskType)) { return false; }
    public boolean buildMinorTask(Long agvId, TaskTypeType taskType, String destination, Jam jam) {
        if (Cools.isEmpty(agvId, taskType)) { return false; }
        try {
            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(agv.getId(), TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
                throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the task in running...");
            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(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...");
            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> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agv.getId());
                    List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agvId);
                    if (!Cools.isEmpty(idleFunStaList)) {
                        FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
                        endCode = codeService.getById(funcSta.getCode());
                        endCode = codeService.getCacheById(funcSta.getCode());
                    }
                    if (null == endCode) {
                        log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agv.getUuid(), taskType.toString());
                        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;
@@ -534,12 +533,12 @@
            if (null == endCode) {
                return false;
            }
            if (!allocateService.validCapacityOfLane(agv, endCode)) {
                throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agv.getUuid() + "]!!!");
            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()));
@@ -563,9 +562,9 @@
            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("travel failed to save");
@@ -593,7 +592,7 @@
            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());
@@ -611,6 +610,7 @@
                } else {
                    if (null != jam && i == 0) {
                        jam.setAvoSeg(next.getId());
                        jam.setAvoCode(endCode.getId());
                    }
                }
            }
@@ -645,30 +645,31 @@
     * 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();
            AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
            assert agvSpeedType != null;

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            assert agvDetail != null;
            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 = 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...");
            }

            boolean first = true;
@@ -678,7 +679,7 @@
                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())) {
@@ -692,15 +693,15 @@

                        String next = pathListPart.get(i);

                        Code nextCode = codeService.selectByData(next);
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode);
                        Code nextCode = codeService.getCacheByData(next);
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            nextDirection = workDirection;
                            reverse = true;
                        }
                        if (!lastDirection.equals(nextDirection) || actionList.size() == 0) {
                        if (!lastDirection.equals(nextDirection) || actionList.isEmpty()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
@@ -713,7 +714,7 @@
                                    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
                            ));
@@ -739,7 +740,7 @@
                                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
                        ));
@@ -765,7 +766,7 @@
                                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
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
@@ -796,7 +797,7 @@
                                    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
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
@@ -805,7 +806,7 @@
                        // 货架取货
                        Loc oriLoc = locService.getById(task.getOriLoc());
                        // 计算左右方向
                        agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, oriLoc, lastCode);
                        agvDirectionType = mapService.calculateAgvWorkDirection(oriLoc, lastCode);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -817,7 +818,7 @@
                                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
                        ));
@@ -833,7 +834,7 @@
                                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
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
@@ -854,7 +855,7 @@
                                    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
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
@@ -872,7 +873,7 @@
                                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
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
@@ -880,7 +881,7 @@
                        // 货架放货
                        Loc destLoc = locService.getById(task.getDestLoc());
                        // 计算左右方向
                        agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, destLoc, lastCode);
                        agvDirectionType = mapService.calculateAgvWorkDirection(destLoc, lastCode);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -892,7 +893,7 @@
                                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
                        ));
@@ -917,7 +918,7 @@
                                    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
                            ));
@@ -936,7 +937,7 @@
                                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
                        ));
@@ -956,7 +957,7 @@
//                                    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
//                            ));
@@ -983,30 +984,24 @@
                    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);


            List<Action> newActionList = actionSorter.optimizeSort(actionList);
            String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);

            // 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;
            }
            if (!actionService.saveBatch(newActionList)) {
                throw new BusinessException("group[" + groupId + "] 动作保存失败");
            }

            // update segment
@@ -1014,19 +1009,23 @@
                item.setGroupId(groupId);
                item.setState(SegmentStateType.RUNNING.toString());
                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");
                }
            }

            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);
@@ -1045,8 +1044,9 @@
            if (Cools.isEmpty(actionList)) {
                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);
@@ -1057,10 +1057,12 @@

            // 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");
@@ -1068,9 +1070,8 @@
                }
            }


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

                switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
@@ -1253,77 +1254,8 @@
                        .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
                segmentService.processNext(segmentList);
                // settlement
                this.settleSegmentList(segmentList, serialNo);

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

@@ -1338,4 +1270,86 @@
        }
    }

    @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) {
                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, 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.setUpdateTime(now);
            if (!segmentService.updateById(segment)) {
                log.error("Segment [{}] 更新失败 ！！！", segment.getGroupId() + " - " + segment.getSerial());
            }
        }

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

}