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luxiaotao1123

2025-01-15 fd6d26f8ffe6a37533e741337f3eca9134d934c7

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

@@ -250,7 +250,7 @@
        try {
            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), true)) {
            if (!agvService.judgeEnable(agv.getId(), false)) {
                return;
            }
            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -497,7 +497,6 @@
        if (Cools.isEmpty(agvId, taskType)) { return false; }
        try {
            String agvNo = agvService.getAgvNo(agvId);
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            if (!agvService.judgeEnable(agvId)) {
                return false;
            }
@@ -510,6 +509,7 @@
            }

            Date now = new Date();
            AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
            Code endCode = null;
            switch (taskType) {
                case TO_CHARGE:
@@ -653,9 +653,9 @@
//            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...");
            }
//            if (!agvService.judgeEnable(agvId)) {
//                throw new CoolException("AGV[" + agvNo + "]当前不可用...");
//            }

            AgvModel agvModel = agvModelService.getByAgvId(agvId);
            Double workDirection = agvModel.getWorkDirection();
@@ -989,26 +989,19 @@
                    now    // 工作时间
            ));

//            List<Action> newActionList = new ArrayList<>(actionList);

//            List<Action> optimizeList = actionService.optimizeSort(actionList);

            List<Action> optimizeList = actionSorter.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
@@ -1077,8 +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()))) {