#

vincentlu

2025-12-29 04c4a9bdc5c4bccd05fb0092bdb4552af2d09bb1

#

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

@@ -1467,6 +1467,10 @@

            log.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));

            // query current segment
            Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), agv_06_up.getQrCode());


            // todo:vincent 校验是否可以取放货

            AGV_06_DOWN agv_06_down = new AGV_06_DOWN();

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

@@ -264,8 +264,11 @@
                        interrupt = true;
                    } else {
                        if (nextStep.getEndNode() == endNode) {

                            segmentList.add(nextStep);
                            // remove sta action seg
                            if (!nextStep.getPosType().equals(TaskPosDto.PosType.ORI_STA.toString())
                                    && !nextStep.getPosType().equals(TaskPosDto.PosType.DEST_STA.toString())) {
                                segmentList.add(nextStep);
                            }
                        } else {
                            interrupt = true;
                        }

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java

@@ -26,4 +26,6 @@

    Boolean cancel(Long segmentId, Long userId);

    Segment getCurrRunningSeg(Long agvId, String qrCode);

}

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java

@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.enums.ActionStsType;
@@ -33,6 +34,8 @@
    private TaskService taskService;
    @Autowired
    private ActionService actionService;
    @Autowired
    private CodeService codeService;

    @Override
    public void processNext(List<Segment> segmentList) {
@@ -146,4 +149,19 @@
        return Boolean.TRUE;
    }

    @Override
    public Segment getCurrRunningSeg(Long agvId, String qrCode) {
        Code codeId = codeService.getCacheByData(qrCode);
        List<Segment> segments = this.list(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getAgvId, agvId)
                .eq(Segment::getState, SegmentStateType.RUNNING.toString())
                .eq(Segment::getEndNode, codeId)
        );

        if (Cools.isEmpty(segments)) {

        }
        return segments.stream().findFirst().orElse(null);
    }

}