#

vincentlu

2025-12-31 30c64524c2253a397cc787c1daeae9b491259240

#

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java

@@ -127,6 +127,7 @@
                    }

                } catch (Exception e) {
                    // todo test TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    log.error("KernelScheduler.trafficCalcThread fail", e);
                }
            }

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

@@ -12,7 +12,7 @@
import org.springframework.stereotype.Service;

import javax.annotation.PostConstruct;
import java.util.Collections;
import java.util.ArrayList;
import java.util.List;

@Slf4j
@@ -61,7 +61,7 @@

    public List<Long> getAgvIdsByCode(String code) {
        if (Cools.isEmpty(code)) {
            return Collections.emptyList();
            return new ArrayList<>();
        }
        List<Long> areaIds = areaGovernService.queryAreas(code);
        List<Long> agvIds = areaAgvService.queryAgvIdsByAreaIds(areaIds);

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

@@ -139,7 +139,7 @@
    // checkout list of code by area ids
    public List<String> queryCodes(List<Long> areaIds) {
        if (Cools.isEmpty(areaIds)) {
            return Collections.emptyList();
            return new ArrayList<>();
        }

        Set<String> codeList = new HashSet<>();

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

@@ -2,6 +2,7 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
@@ -267,9 +268,53 @@
                            );
                            // load segment
                            Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
                            currSeg.setState(SegmentStateType.INIT.toString());
                            currSeg.setUpdateTime(now);
                            if (!segmentService.updateById(currSeg)) {
                                log.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
                            }


                            // new oriSta seg
                            Segment loadSeg = new Segment();
                            loadSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
                            loadSeg.setTravelId(currSeg.getTravelId());
                            loadSeg.setAgvId(agvId);
                            loadSeg.setTaskId(task.getId());
                            loadSeg.setSerial(currSeg.getSerial() - 1);
                            loadSeg.setEndNode(sta.getCode());
                            loadSeg.setPosType(TaskPosDto.PosType.ORI_STA.toString());
                            loadSeg.setState(SegmentStateType.WAITING.toString());
                            if (!segmentService.save(loadSeg)) {
                                log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
                            }

                            // place segment
                            TaskTypeType taskType = Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()));
                            TaskPosDto.PosType posType = null;
                            switch (taskType) {
                                case STA_TO_LOC:
                                    posType = TaskPosDto.PosType.DEST_LOC;
                                    break;
                                case STA_TO_STA:
                                    posType = TaskPosDto.PosType.DEST_STA;
                                    break;
                                default:
                                    throw new BusinessException("[Agv: " + agvNo + "]allocate inbound failed to find travel");
                            }

                            Segment placeSeg = new Segment();
                            placeSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
                            placeSeg.setTravelId(currSeg.getTravelId());
                            placeSeg.setAgvId(agvId);
                            placeSeg.setTaskId(task.getId());
                            placeSeg.setSerial(currSeg.getSerial() - 1);
                            placeSeg.setEndNode(sta.getCode());
                            placeSeg.setPosType(posType.toString());
                            placeSeg.setState(SegmentStateType.INIT.toString());
                            if (!segmentService.save(placeSeg)) {
                                log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
                            }

                            task.setAgvId(agvId);
                            task.setTaskSts(TaskStsType.ASSIGN.val());
@@ -1208,6 +1253,38 @@
            List<Action> newActionList = actionSorter.optimizeSort(actionList);
            String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);

            // update segment
            for (Segment item : segmentList) {
                LambdaUpdateWrapper<Segment> uw = new LambdaUpdateWrapper<Segment>()
                        .eq(Segment::getId, item.getId())
                        .eq(Segment::getState, item.getState())
                        .set(Segment::getGroupId, groupId)
                        .set(Segment::getState, SegmentStateType.RUNNING.toString())
                        .set(Segment::getStartTime, now)
                        .set(Segment::getUpdateTime, now);
                if (algoStartTime != null) {
                    uw.set(Segment::getAlgoTime, (int) (now.getTime() - algoStartTime.getTime()));
                }
                if (!segmentService.update(uw)) {
                    // segment 原子性保证
                    throw new CoolException("更新Segment失败: segmentId=" + item.getId() + " state not WAITING");
                }
            }

            // update segment
//            for (Segment item : segmentList) {
//                item.setGroupId(groupId);
//                item.setState(SegmentStateType.RUNNING.toString());
//                item.setStartTime(now);
//                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");
//                }
//            }

            // save action
            int i = newActionList.size();
            for (Action action : newActionList) {
@@ -1218,20 +1295,6 @@
            }
            if (!actionService.saveBatch(newActionList)) {
                throw new BusinessException("group[" + groupId + "] 动作保存失败");
            }

            // update segment
            for (Segment item : segmentList) {
                item.setGroupId(groupId);
                item.setState(SegmentStateType.RUNNING.toString());
                item.setStartTime(now);
                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("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size());

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

@@ -247,7 +247,7 @@
                insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
                insertSeg.setState(SegmentStateType.WAITING.toString());
                if (!segmentService.save(insertSeg)) {
                    log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
                    log.error("Segment [{}] failed to save ！！！", insertSeg.getTravelId() + " - " + insertSeg.getSerial());
                }
                segmentList.add(insertSeg);


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

@@ -8,7 +8,7 @@
import com.zy.acs.manager.manager.service.AreaAgvService;
import org.springframework.stereotype.Service;

import java.util.Collections;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;

@@ -18,7 +18,7 @@
    @Override
    public List<Long> queryAgvIdsByAreaIds(List<Long> areaIds) {
        if (Cools.isEmpty(areaIds)) {
            return Collections.emptyList();
            return new ArrayList<>();
        }
        return this.list(new LambdaQueryWrapper<AreaAgv>().in(AreaAgv::getAreaId, areaIds).select(AreaAgv::getAgvId))
                .stream().map(AreaAgv::getAgvId).collect(Collectors.toList());
@@ -27,7 +27,7 @@
    @Override
    public List<Long> queryAreaIdsByAgvId(Long agvId) {
        if (agvId == null) {
            return Collections.emptyList();
            return new ArrayList<>();
        }
        return this.list(new LambdaQueryWrapper<AreaAgv>().eq(AreaAgv::getAgvId, agvId).select(AreaAgv::getAreaId))
                .stream().map(AreaAgv::getAreaId).collect(Collectors.toList());