#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -859,6 +859,7 @@

                // 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:
@@ -974,18 +975,18 @@
                            lastDirection = oriStaWorkDirection;
                        }
                        // 计算货叉工作方向
                        agvDirectionType = mapService.calculateAgvWorkDirectionByStation(oriSta, lastCode);
                        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.ReadyTakeFromShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                ActionTypeType.ReadyTakeFromConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(oriSta.getOffset()),   // 动作参数
                                ActionTypeType.ReadyTakeFromShelvesLoc.val(),    // 动作类型
                                ActionTypeType.ReadyTakeFromConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
@@ -1053,18 +1054,18 @@
                                now    // 工作时间
                        ));
                        // 计算货叉工作方向
                        agvDirectionType = mapService.calculateAgvWorkDirectionByStation(destSta, lastCode);
                        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.ReadyReleaseToShelvesLoc.desc,    // 名称
                                (double) agvDirectionType.val,    // 属性值
                                ActionTypeType.ReadyReleaseToConveyorSta.desc,    // 名称
                                staWorkDirection,    // 属性值
                                lastCode.getData(),    // 地面码
                                String.valueOf(destSta.getOffset()),   // 动作参数
                                ActionTypeType.ReadyReleaseToShelvesLoc.val(),    // 动作类型
                                ActionTypeType.ReadyReleaseToConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
@@ -1212,6 +1213,13 @@
            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);
@@ -1238,10 +1246,8 @@
                }
            }

            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()))) {
                    case TurnCorner:
                        agvAction.add(new AgvActionItem<>(TurnCornerAction.class)
@@ -1275,6 +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())
@@ -1289,6 +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())