#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

 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;
@@ -32,10 +31,11 @@
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;
import org.springframework.stereotype.Component;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
@@ -47,7 +47,7 @@
 * Created by vincent on 2023/6/14
 */
@Slf4j
@Component("mainService")
@Service("mainService")
public class MainService {

    @Autowired
@@ -94,7 +94,8 @@
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;

    @Autowired
    private ActionSorter actionSorter;

    @SuppressWarnings("all")
    @Transactional
@@ -173,8 +174,28 @@
                    if (!locService.updateById(oriLoc)) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
                    }

                    destSta = staService.getById(task.getDestSta());
                    if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
                    destSta.setUpdateTime(now);
                    if (!staService.updateById(destSta)) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update");
                    }
                    break;
                case STA_TO_LOC:
                    oriSta = staService.getById(task.getOriSta());
                    if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
                    if (!staService.updateById(oriSta)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update");
                    }

                    destLoc = locService.getById(task.getDestLoc());
                    if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
@@ -186,6 +207,25 @@
                    }
                    break;
                case STA_TO_STA:
                    oriSta = staService.getById(task.getOriSta());
                    if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
                    if (!staService.updateById(oriSta)) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " failed to update");
                    }

                    destSta = staService.getById(task.getDestSta());
                    if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
                    destSta.setUpdateTime(now);
                    if (!staService.updateById(destSta)) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " failed to update");
                    }
                    break;
                default:
                    break;
@@ -221,7 +261,7 @@
            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 check out agv which is idle...", task.getSeqNum());
                    continue;
                }
                task.setAgvId(agv.getId());
@@ -248,7 +288,7 @@
        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))) {
@@ -299,8 +339,8 @@
                        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 +349,8 @@
                        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 +359,8 @@
                        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 +369,8 @@
                        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);
@@ -395,7 +435,7 @@
            }

            // 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<List<TaskPosDto>> pickGroups = new ArrayList<>();
@@ -491,37 +531,38 @@
     * 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;
@@ -530,12 +571,12 @@
            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()));
@@ -559,7 +600,7 @@
            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(GsonUtils.toJson(Utils.singletonList(task.getId())));
            travel.setState(TravelStateType.RUNNING.toString());
@@ -589,7 +630,7 @@
            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());
@@ -646,25 +687,27 @@
        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);
            AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);

            List<Action> actionList = new ArrayList<>();
            // start node
            Code lastCode = codeService.getById(agvDetail.getRecentCode());
            Double lastDirection = agvDetail.getAgvAngle();
            Code lastCode = codeService.getCacheById(agvDetail.getRecentCode());
            Double lastDirection = MapService.mapToNearest(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;
@@ -674,7 +717,7 @@
                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())) {
@@ -688,15 +731,58 @@

                        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);

                        // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            nextDirection = workDirection;
                            reverse = true;
                        }
                        if (!lastDirection.equals(nextDirection) || actionList.isEmpty()) {

                        // 第二步：判断当前节点是否可以旋转
                        if (!lastCode.getCornerBool()) {
                            // 如果是作业方向，但是小车在巷道内方向错误，则停止
                            if (reverse && !lastDirection.equals(nextDirection)) {
//                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
                            // 如果不是作业方向，判断是否相反方向，如果反方向则倒退行走
                            if (nextDirection.equals((lastDirection + 180) % 360)) {
                                nextDirection = lastDirection;
                                reverse = true;
                            }
                        } else {
                            if (!lastDirection.equals(nextDirection)) {
                                // 如果下个节点方向与当前agv方向相反，则倒退行走，但是如果当前agv方向正好与工作方向相反，则旋转至工作方向
                                if (nextDirection.equals((lastDirection + 180) % 360) && !workDirection.equals((lastDirection + 180) % 360)) {
                                    nextDirection = lastDirection;
                                    reverse = true;
                                } else {
                                    // turn
                                    actionList.add(new Action(
                                            null,    // 编号s
                                            task.getBusId(),    // 总线
                                            task.getId(),    // 任务
                                            null,    // 动作号
                                            null,    // 优先级
                                            ActionTypeType.TurnCorner.desc,    // 名称
                                            mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                            lastCode.getData(),    // 地面码
                                            String.valueOf(nextDirection),   // 动作参数
                                            ActionTypeType.TurnCorner.val(),    // 动作类型
                                            actionPrepareSts,    // 动作进度
                                            agvId,    // AGV
                                            now    // 工作时间
                                    ));

                                    lastDirection = nextDirection;
                                }
                            }
                        }

                        // 第一个动作一定是 turn
                        if (actionList.isEmpty()) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
@@ -709,13 +795,12 @@
                                    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
                            ));

                            lastDirection = nextDirection;

                        }

                        // run
@@ -735,7 +820,7 @@
                                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
                        ));
@@ -761,7 +846,7 @@
                                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
                        ));
@@ -774,34 +859,19 @@

                // 作业点动作
                AgvDirectionType agvDirectionType;
                Double staWorkDirection;
                AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
                switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
                    case ORI_LOC:
                        assert backpackType != null;
                        // 检验方向
                        if (!lastDirection.equals(workDirection)) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    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
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            lastDirection = workDirection;
                            throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                        }
                        // 货架取货
                        Loc oriLoc = locService.getById(task.getOriLoc());
                        // 计算左右方向
                        agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, oriLoc, lastCode);
                        agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -813,7 +883,7 @@
                                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
                        ));
@@ -829,7 +899,7 @@
                                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
                        ));
@@ -838,23 +908,7 @@
                        assert backpackType != null;
                        // 检验方向
                        if (!lastDirection.equals(workDirection)) {
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    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
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            lastDirection = workDirection;
                            throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                        }
                        // 暂存点取货货
                        actionList.add(new Action(
@@ -868,7 +922,7 @@
                                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
                        ));
@@ -876,7 +930,7 @@
                        // 货架放货
                        Loc destLoc = locService.getById(task.getDestLoc());
                        // 计算左右方向
                        agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, destLoc, lastCode);
                        agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -888,14 +942,134 @@
                                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
                        ));
                        break;
                    case ORI_STA:
                        // 站点取货
                        Sta oriSta = staService.getById(task.getOriSta());
                        Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
                        // 检验方向
                        if (!lastDirection.equals(oriStaWorkDirection)) {
                            if (!lastCode.getCornerBool()) {
                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(oriStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            lastDirection = oriStaWorkDirection;
                        }
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(oriSta.getOffset()),   // 动作参数
                                ActionTypeType.ReadyTakeFromConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        // 暂存点放货
                        assert backpackType != null;
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToAgvSite.desc,    // 名称
                                (double) backpackType.lev,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(backpackType.height),   // 动作参数
                                ActionTypeType.ReadyReleaseToAgvSite.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        break;
                    case DEST_STA:
                        // 站点放货
                        Sta destSta = staService.getById(task.getDestSta());
                        Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
                        // 检验方向
                        if (!lastDirection.equals(destStaWorkDirection)) {
                            if (!lastCode.getCornerBool()) {
                                throw new CoolException(agvNo + "号小车方向错误，请推至转弯点手动调整");
                            }
                            // turn
                            actionList.add(new Action(
                                    null,    // 编号
                                    task.getBusId(),    // 总线
                                    task.getId(),    // 任务
                                    null,    // 动作号
                                    null,    // 优先级
                                    ActionTypeType.TurnCorner.desc,    // 名称
                                    mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D,    // 属性值
                                    lastCode.getData(),    // 地面码
                                    String.valueOf(destStaWorkDirection),   // 动作参数
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                            ));
                            lastDirection = destStaWorkDirection;
                        }
                        // 暂存点取货
                        assert backpackType != null;
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyTakeFromAgvSite.desc,    // 名称
                                (double) backpackType.lev,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(backpackType.height),   // 动作参数
                                ActionTypeType.ReadyTakeFromAgvSite.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
                                task.getId(),    // 任务
                                null,    // 动作号
                                null,    // 优先级
                                ActionTypeType.ReadyReleaseToConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(destSta.getOffset()),   // 动作参数
                                ActionTypeType.ReadyReleaseToConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                        ));
                        break;
                    case TO_CHARGE:
                        // 检验方向
@@ -913,7 +1087,7 @@
                                    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
                            ));
@@ -932,7 +1106,7 @@
                                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
                        ));
@@ -952,7 +1126,7 @@
//                                    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
//                            ));
@@ -979,30 +1153,24 @@
                    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
@@ -1018,14 +1186,15 @@
                }
            }

            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);
@@ -1044,15 +1213,22 @@
            if (Cools.isEmpty(actionList)) {
                return;
            }

            Long agvId = actionList.get(0).getAgvId();
            String agvNo = agvService.getAgvNo(agvId);
            if (!agvService.judgeOnline(agvId)) {
                return;
            }

            long actionIssuedSts = ActionStsType.ISSUED.val();
            for (Action action : actionList) {
                action.setActionSts(actionIssuedSts);
                action.setStartTime(now);
                action.setIoTime(now);
                action.setUpdateTime(now);
                if (!actionService.updateById(action)) {
                    throw new BusinessException(action.getPriority() + " - " + action.getName() + "动作更新失败");
                }
            }
            if (!actionService.updateBatchById(actionList)) {
                throw new BusinessException("failed to update action batch !!!");
            }

            // task
@@ -1070,10 +1246,8 @@
                }
            }

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

                switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
                    case TurnCorner:
                        agvAction.add(new AgvActionItem<>(TurnCornerAction.class)
@@ -1107,6 +1281,13 @@
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case ReadyTakeFromConveyorSta:
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case ReadyTakeFromAgvSite:
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
                                .setVal(action.getVal().intValue())
@@ -1121,6 +1302,13 @@
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case ReadyReleaseToConveyorSta:
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case ReadyReleaseToAgvSite:
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
                                .setVal(action.getVal().intValue())