#latent_code

vincentlu

20 小时以前 520d4be5c6b8136f61811c9227515fec8937c709

#latent_code

 zy-acs-common/src/main/java/com/zy/acs/common/utils/QrCodeCodecSupport.java

@@ -1,6 +1,7 @@
package com.zy.acs.common.utils;

import com.zy.acs.framework.common.Cools;
import lombok.extern.slf4j.Slf4j;

import java.math.BigInteger;
import java.nio.charset.Charset;
@@ -11,6 +12,7 @@
/**
 * 地码编解码规则，按进程级配置生效。
 */
@Slf4j
public final class QrCodeCodecSupport {

    private static volatile CodecConfig config = CodecConfig.defaultConfig();
@@ -31,7 +33,7 @@
        if (config.mode == Mode.NUMERIC) {
            return normalizeNumericValue(value, config.bytes, config.displayLength);
        }
        return normalizeStringValue(value, config.bytes, config.charset);
        return normalizeStringValue(value, config.bytes, config.displayLength, config.charset);
    }

    public static String decode(byte[] bytes, int pos) {
@@ -69,8 +71,11 @@
    }

    private static byte[] toFixedStringBytes(String qrCode, int size, Charset charset) {
        String value = normalizeStringValue(qrCode, size, charset);
        return value.getBytes(charset);
        String value = normalizeStringValue(qrCode, size, config.displayLength, charset);
        byte[] raw = value.getBytes(charset);
        byte[] result = new byte[size];
        System.arraycopy(raw, 0, result, 0, raw.length);
        return result;
    }

    private static String normalizeNumericValue(String qrCode, int size, int displayLength) {
@@ -86,11 +91,15 @@
        return Utils.zeroFill(numeric.toString(), displayLength);
    }

    private static String normalizeStringValue(String qrCode, int size, Charset charset) {
    private static String normalizeStringValue(String qrCode, int size, int displayLength, Charset charset) {
        String value = requireNonEmpty(qrCode);
        byte[] raw = value.getBytes(charset);
        if (raw.length != size) {
            throw new IllegalArgumentException("qrCode byte length must be " + size + ": " + qrCode);
        if (raw.length > size) {
            log.error("qrCode exceeds configured byte size: " + qrCode);
//            throw new IllegalArgumentException("qrCode byte length exceeds protocol size " + size + ": " + qrCode);
        }
        if (displayLength > 0 && raw.length != displayLength) {
//            throw new IllegalArgumentException("qrCode byte length must be " + displayLength + ": " + qrCode);
        }
        return value;
    }
@@ -157,7 +166,15 @@
        static CodecConfig of(String mode, Integer bytes, Integer displayLength, String charsetName) {
            Mode resolvedMode = Mode.of(mode);
            int resolvedBytes = bytes == null || bytes <= 0 ? 4 : bytes;
            int resolvedDisplayLength = displayLength == null || displayLength <= 0 ? 8 : displayLength;
            int resolvedDisplayLength;
            if (displayLength == null || displayLength <= 0) {
                resolvedDisplayLength = resolvedMode == Mode.STRING ? resolvedBytes : 8;
            } else {
                resolvedDisplayLength = displayLength;
            }
            if (resolvedMode == Mode.STRING && resolvedDisplayLength > resolvedBytes) {
                throw new IllegalArgumentException("qrCode display length exceeds protocol size");
            }
            Charset resolvedCharset = charsetName == null || charsetName.trim().isEmpty()
                    ? StandardCharsets.US_ASCII
                    : Charset.forName(charsetName.trim());

 zy-acs-manager/src/main/java/com/zy/acs/manager/common/config/AgvCodecProperties.java

@@ -10,13 +10,13 @@
@ConfigurationProperties(prefix = "agv-codec")
public class AgvCodecProperties {

    private String qrCodeMode = "numeric";
    private String qrCodeMode;

    private Integer qrCodeBytes = 4;
    private Integer qrCodeBytes;

    private Integer qrCodeDisplayLength = 8;
    private Integer qrCodeDisplayLength;

    private String qrCodeCharset = "ASCII";
    private String qrCodeCharset;

    @PostConstruct
    public void init() {

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -323,7 +323,8 @@
                if (null == destSta) {
                    return R.error("目标站点不存在");
                }
                if (!agvAreaDispatcher.match(agv.getId(), destSta.getCode())) {
                Long locToStaDestCodeId = staService.resolveWorkCodeId(destSta, agv.getId());
                if (!agvAreaDispatcher.match(agv.getId(), locToStaDestCodeId)) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destSta.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达目标站点【" + destSta.getStaNo() + "】");
                }
@@ -334,7 +335,7 @@
                task.setOriLoc(oriLoc.getId());
                task.setOriCode(oriLoc.getCode());
                task.setDestSta(destSta.getId());
                task.setDestCode(destSta.getCode());
                task.setDestCode(locToStaDestCodeId);

                staReserveService.allocateCallBack(task, agv.getId());
                break;
@@ -349,7 +350,8 @@
                if (null == oriSta) {
                    return R.error("起始站点不存在");
                }
                if (!agvAreaDispatcher.match(agv.getId(), oriSta.getCode())) {
                Long staToLocOriCodeId = staService.resolveWorkCodeId(oriSta, agv.getId());
                if (!agvAreaDispatcher.match(agv.getId(), staToLocOriCodeId)) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriSta.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达起始站点【" + oriSta.getStaNo() + "】");
                }
@@ -384,7 +386,7 @@

                // task
                task.setOriSta(oriSta.getId());
                task.setOriCode(oriSta.getCode());
                task.setOriCode(staToLocOriCodeId);
                task.setDestLoc(destLoc.getId());
                task.setDestCode(destLoc.getCode());

@@ -401,7 +403,8 @@
                if (null == oriSta) {
                    return R.error("起始站点不存在");
                }
                if (!agvAreaDispatcher.match(agv.getId(), oriSta.getCode())) {
                Long staToStaOriCodeId = staService.resolveWorkCodeId(oriSta, agv.getId());
                if (!agvAreaDispatcher.match(agv.getId(), staToStaOriCodeId)) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriSta.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达起始站点【" + oriSta.getStaNo() + "】");
                }
@@ -420,7 +423,8 @@
                if (null == destSta) {
                    return R.error("目标站点不存在");
                }
                if (!agvAreaDispatcher.match(agv.getId(), destSta.getCode())) {
                Long staToStaDestCodeId = staService.resolveWorkCodeId(destSta, agv.getId());
                if (!agvAreaDispatcher.match(agv.getId(), staToStaDestCodeId)) {
//                    throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destSta.getCode$());
                    throw new BusinessException("AGV【" + agv.getUuid() + "】无法到达目标站点【" + destSta.getStaNo() + "】");
                }
@@ -430,9 +434,9 @@

                // task
                task.setOriSta(oriSta.getId());
                task.setOriCode(oriSta.getCode());
                task.setOriCode(staToStaOriCodeId);
                task.setDestSta(destSta.getId());
                task.setDestCode(destSta.getCode());
                task.setDestCode(staToStaDestCodeId);

                staReserveService.allocateCallBack(task, agv.getId());
                break;

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

@@ -15,7 +15,9 @@

import javax.annotation.PostConstruct;
import java.util.ArrayList;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Set;

@Slf4j
@Service
@@ -51,8 +53,7 @@
        }
        if (null != task.getOriSta()) {
            oriSta = staService.getById(task.getOriSta());
            Code code = codeService.getCacheById(oriSta.getCode());
            return this.getAgvIdsByCode(code.getData());
            return this.getAgvIdsBySta(oriSta);
        }
        if (null != task.getDestLoc()) {
            destLoc = locService.getById(task.getDestLoc());
@@ -61,12 +62,32 @@
        }
        if (null != task.getDestSta()) {
            destSta = staService.getById(task.getDestSta());
            Code code = codeService.getCacheById(destSta.getCode());
            return this.getAgvIdsByCode(code.getData());
            return this.getAgvIdsBySta(destSta);
        }
        return null;
    }

    private List<Long> getAgvIdsBySta(Sta sta) {
        if (sta == null) {
            return new ArrayList<>();
        }
        Set<Long> agvIds = new LinkedHashSet<>();
        this.collectAgvIdsByCodeId(agvIds, sta.getCode());
        this.collectAgvIdsByCodeId(agvIds, sta.getLatentCode());
        return new ArrayList<>(agvIds);
    }

    private void collectAgvIdsByCodeId(Set<Long> agvIds, Long codeId) {
        if (codeId == null) {
            return;
        }
        Code code = codeService.getCacheById(codeId);
        if (code == null) {
            return;
        }
        agvIds.addAll(this.getAgvIdsByCode(code.getData()));
    }

    public List<Long> getAgvIdsByCode(String codeData) {
        if (Cools.isEmpty(codeData)) {
            return new ArrayList<>();

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

@@ -138,14 +138,7 @@
        if (Cools.isEmpty(agvNo)) {
            return null;
        }

        // record lane hash for later dispatch/traffic-control logic
        if (filterLaneDto.getOriginLaneDto() != null) {
            task.setOriLaneHash(filterLaneDto.getOriginLaneDto().getHashCode());
        }
        if (filterLaneDto.getDestinationLaneDto() != null) {
            task.setDestLaneHash(filterLaneDto.getDestinationLaneDto().getHashCode());
        }
        this.refreshLaneHash(task, agvNo);

        return agvNo;
    }
@@ -172,8 +165,6 @@
        if (null == filterLaneDto) {
            return null;
        }
        LaneDto originLaneDto = filterLaneDto.getOriginLaneDto();
        LaneDto destinationLaneDto = filterLaneDto.getDestinationLaneDto();
        List<String> actualAvailableAgvNos = filterLaneDto.getActualAvailableAgvNos();
        if (Cools.isEmpty(actualAvailableAgvNos)) {
            return null;
@@ -184,15 +175,9 @@
                calcAllocateWeight(o2, task),
                calcAllocateWeight(o1, task)
        ));

        if (null != originLaneDto) {
            task.setOriLaneHash(originLaneDto.getHashCode());
        }
        if (null != destinationLaneDto) {
            task.setDestLaneHash(destinationLaneDto.getHashCode());
        }

        return actualAvailableAgvNos.get(0);
        String agvNo = actualAvailableAgvNos.get(0);
        this.refreshLaneHash(task, agvNo);
        return agvNo;
    }

    private String checkoutAgvForInboundRoller(Task task, Sta sta, List<String> availableAgvNos) {
@@ -208,7 +193,8 @@
            }

            // only checkout the agv which at sta code position
            if (!sta.getCode().equals(currentCode.getId())) {
            Long staCodeId = staService.resolveWorkCodeId(sta, agvId);
            if (!Objects.equals(staCodeId, currentCode.getId())) {
                continue;
            }

@@ -294,52 +280,15 @@
        }

        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);

        // checkout lane
        LaneDto originLaneDto = taskService.checkoutOriginLane(task);
        LaneDto destinationLaneDto = taskService.checkoutDestinationLane(task);

        // allocate about origin
        List<String> availableAgvNosByOriLane = new ArrayList<>(availableAgvNos);
        if (null != originLaneDto) {
            List<String> agvNosByOriLane = findAgvNosByLane(originLaneDto);    // the agv list that had tasks in this lane
            // if full lane
            if (agvNosByOriLane.size() >= maxAgvCountInLane) {

                availableAgvNosByOriLane = Cools.getIntersection(agvNosByOriLane, availableAgvNos);
            }
        }
        // valid backpack limit
        availableAgvNosByOriLane = this.validBackpackLimit(availableAgvNosByOriLane);


        // allocate about destination
        List<String> availableAgvNosByDestLane = new ArrayList<>(availableAgvNos);
        if (null != destinationLaneDto) {
            List<String> agvNosByDestLane = findAgvNosByLane(destinationLaneDto);
            if (agvNosByDestLane.size() >= maxAgvCountInLane) {

                availableAgvNosByDestLane = Cools.getIntersection(agvNosByDestLane, availableAgvNos);
            }
        }
        availableAgvNosByDestLane = this.validBackpackLimit(availableAgvNosByDestLane);

        // valid
        if (Cools.isEmpty(availableAgvNosByOriLane)) {
            News.warn("No available agv to assign the task origin[{}]", task.getSeqNum());
            return null;
        }
        if (Cools.isEmpty(availableAgvNosByDestLane)) {
            News.warn("No available agv to assign the task destination[{}]", task.getSeqNum());
            return null;
        }
        List<String> actualAvailableAgvNos = Cools.getIntersection(availableAgvNosByOriLane, availableAgvNosByDestLane);
        List<String> actualAvailableAgvNos = this.validBackpackLimit(availableAgvNos).stream()
                .filter(agvNo -> this.hitLaneLimit(task, agvNo, maxAgvCountInLane))
                .collect(Collectors.toList());
        if (Cools.isEmpty(actualAvailableAgvNos)) {
            News.warn("No available agv to assign the task[{}]", task.getSeqNum());
            return null;
        }

        return new FilterLaneDto(originLaneDto, destinationLaneDto, actualAvailableAgvNos);
        return new FilterLaneDto(null, null, actualAvailableAgvNos);
    }

    public List<String> findAgvNosByLane(LaneDto laneDto) {
@@ -396,7 +345,7 @@
            case STA_TO_LOC:
            case STA_TO_STA:
                Sta oriSta = staService.getById(task.getOriSta());
                firstCode = codeService.getCacheById(oriSta.getCode());
                firstCode = codeService.getCacheById(staService.resolveWorkCodeId(oriSta, agvId));
                break;
            case TO_CHARGE:
            case TO_STANDBY:
@@ -429,6 +378,28 @@
        }

        return true;
    }

    private void refreshLaneHash(Task task, String agvNo) {
        Long agvId = agvService.getAgvId(agvNo);
        LaneDto originLaneDto = taskService.checkoutOriginLane(task, agvId);
        LaneDto destinationLaneDto = taskService.checkoutDestinationLane(task, agvId);
        task.setOriLaneHash(originLaneDto == null ? null : originLaneDto.getHashCode());
        task.setDestLaneHash(destinationLaneDto == null ? null : destinationLaneDto.getHashCode());
    }

    private boolean hitLaneLimit(Task task, String agvNo, Integer maxAgvCountInLane) {
        Long agvId = agvService.getAgvId(agvNo);
        return hitLaneLimit(taskService.checkoutOriginLane(task, agvId), agvNo, maxAgvCountInLane)
                && hitLaneLimit(taskService.checkoutDestinationLane(task, agvId), agvNo, maxAgvCountInLane);
    }

    private boolean hitLaneLimit(LaneDto laneDto, String agvNo, Integer maxAgvCountInLane) {
        if (laneDto == null) {
            return true;
        }
        List<String> agvNosByLane = findAgvNosByLane(laneDto);
        return agvNosByLane.size() < maxAgvCountInLane || agvNosByLane.contains(agvNo);
    }


@@ -527,4 +498,4 @@
        }
    }

}
}

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

@@ -304,7 +304,7 @@
                            loadSeg.setAgvId(agvId);
                            loadSeg.setTaskId(task.getId());
                            loadSeg.setSerial(currSeg.getSerial() - 1);
                            loadSeg.setEndNode(sta.getCode());
                            loadSeg.setEndNode(staService.resolveWorkCodeId(sta, agvId));
                            loadSeg.setPosType(TaskPosDto.PosType.ORI_STA.toString());
                            loadSeg.setState(SegmentStateType.WAITING.toString());
                            loadSeg.setBackpack(backpackLev);
@@ -328,7 +328,7 @@
                                case STA_TO_STA:
                                    posType = TaskPosDto.PosType.DEST_STA;
                                    Sta destSta = staService.getById(task.getDestSta());
                                    endCode = codeService.getCacheById(destSta.getCode());
                                    endCode = codeService.getCacheById(staService.resolveWorkCodeId(destSta, agvId));
                                    break;
                                default:
                                    throw new BusinessException("[Agv:" + agvNo + "] allocate inbound only supports STA_TO_LOC/STA_TO_STA");
@@ -441,6 +441,7 @@

                            // update task
                            task.setAgvId(agvId);
                            taskService.refreshWorkCodes(task, agvId);
                            task.setTaskSts(TaskStsType.ASSIGN.val());
                            task.setIoTime(now);
                            task.setUpdateTime(now);
@@ -455,6 +456,7 @@
                            Long agvId = agvService.getAgvId(agvNo);
                            // update task
                            task.setAgvId(agvId);
                            taskService.refreshWorkCodes(task, agvId);
                            task.setTaskSts(TaskStsType.WAITING.val());
                            task.setIoTime(now);
                            task.setUpdateTime(now);
@@ -554,7 +556,7 @@
                        destSta = staService.getById(task.getDestSta());

                        startCode = codeService.getCacheById(oriLoc.getCode());
                        endCode = codeService.getCacheById(destSta.getCode());
                        endCode = codeService.getCacheById(staService.resolveWorkCodeId(destSta, agvId));

                        TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
                        TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
@@ -563,7 +565,7 @@
                        oriSta = staService.getById(task.getOriSta());
                        destLoc = locService.getById(task.getDestLoc());

                        startCode = codeService.getCacheById(oriSta.getCode());
                        startCode = codeService.getCacheById(staService.resolveWorkCodeId(oriSta, agvId));
                        endCode = codeService.getCacheById(destLoc.getCode());

                        TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
@@ -573,8 +575,8 @@
                        oriSta = staService.getById(task.getOriSta());
                        destSta = staService.getById(task.getDestSta());

                        startCode = codeService.getCacheById(oriSta.getCode());
                        endCode = codeService.getCacheById(destSta.getCode());
                        startCode = codeService.getCacheById(staService.resolveWorkCodeId(oriSta, agvId));
                        endCode = codeService.getCacheById(staService.resolveWorkCodeId(destSta, agvId));

                        TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
                        TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
@@ -720,6 +722,7 @@

            // task
            for (Task task : taskList) {
                taskService.refreshWorkCodes(task, agvId);
                task.setTaskSts(TaskStsType.ASSIGN.val());
                task.setStartTime(now);
                task.setUpdateTime(now);
@@ -734,7 +737,6 @@
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }


    /**
     * 充电 回待机位任务

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

@@ -373,8 +373,8 @@
    public synchronized void initRouteMap(Integer lev) {
        News.info("There is initializing Route Map......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        Set<String> routeKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG);
        Set<String> routeCdaKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG);
        Set<String> routeKeys = Optional.ofNullable(redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG)).orElse(Collections.emptySet());
        Set<String> routeCdaKeys = Optional.ofNullable(redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG)).orElse(Collections.emptySet());

        List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, StatusType.ENABLE.val));
        if (routeKeys.size() == routeList.size() && routeKeys.size() == routeCdaKeys.size()) {

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

@@ -11,6 +11,10 @@

    AgvModel getByAgvNo(String agvNo);

    Boolean isUnderdriveAgv(Long agvId);

    Boolean isUnderdriveAgv(String agvNo);

    void refreshCacheByModelId(Long modelId);

    void evictCacheByAgv(Long agvId, String agvNo);

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

@@ -25,6 +25,8 @@

    StaTypeType resolveStaType(Sta sta);

    Long resolveWorkCodeId(Sta sta, Long agvId);

    boolean allowAgvWorkAtSta(String agvNo, Sta sta, Task task, Segment seg, StaReserveType type);

    Boolean hasWorkingAgv(Long staId);

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

@@ -33,7 +33,11 @@

    LaneDto checkoutOriginLane(Task task);

    LaneDto checkoutOriginLane(Task task, Long agvId);

    LaneDto checkoutDestinationLane(Task task);

    LaneDto checkoutDestinationLane(Task task, Long agvId);

    List<Task> findRunningTasksByLaneHash(String laneHash);

@@ -43,6 +47,8 @@

    Task findLatestTask(Long agvId, TaskStsType taskSts);

    void refreshWorkCodes(Task task, Long agvId);

    void maintainLocAndSta(Task task);

}

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

@@ -4,6 +4,7 @@
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.enums.AgvModelType;
import com.zy.acs.manager.manager.mapper.AgvModelMapper;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.AgvService;
@@ -77,6 +78,18 @@
    }

    @Override
    public Boolean isUnderdriveAgv(Long agvId) {
        AgvModel agvModel = this.getByAgvId(agvId);
        return agvModel != null && AgvModelType.UNDERDRIVE_AGV.toString().equals(agvModel.getType());
    }

    @Override
    public Boolean isUnderdriveAgv(String agvNo) {
        AgvModel agvModel = this.getByAgvNo(agvNo);
        return agvModel != null && AgvModelType.UNDERDRIVE_AGV.toString().equals(agvModel.getType());
    }

    @Override
    public void refreshCacheByModelId(Long modelId) {
        if (modelId == null) {
            return;

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

@@ -35,6 +35,8 @@
    private TaskService taskService;
    @Autowired
    private ConveyorStationService conveyorStationService;
    @Autowired
    private AgvModelService agvModelService;

    @Override
    public Sta selectByStaNo(String staNo) {
@@ -111,6 +113,19 @@
    }

    @Override
    public Long resolveWorkCodeId(Sta sta, Long agvId) {
        if (sta == null) {
            return null;
        }
        if (agvId != null
                && Boolean.TRUE.equals(agvModelService.isUnderdriveAgv(agvId))
                && sta.getLatentCode() != null) {
            return sta.getLatentCode();
        }
        return sta.getCode();
    }

    @Override
    public boolean allowAgvWorkAtSta(String agvNo, Sta sta, Task task, Segment seg, StaReserveType type) {
        if (sta == null) {
            return false;
@@ -152,8 +167,7 @@
    @Override
    public Boolean hasWorkingAgv(Long staId) {
        Sta sta = this.getById(staId);
        Long codeId = sta.getCode();
        if (null == codeId) {
        if (sta == null) {
            return false;
        }

@@ -165,6 +179,10 @@
            return false;
        }
        for (Long agvId : agvIds) {
            Long codeId = resolveWorkCodeId(sta, agvId);
            if (codeId == null) {
                continue;
            }
            Code currentCode = agvDetailService.getCurrentCode(agvId);
            if (null == currentCode) { continue; }


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

@@ -192,6 +192,11 @@

    @Override
    public LaneDto checkoutOriginLane(Task task) {
        return checkoutOriginLane(task, null);
    }

    @Override
    public LaneDto checkoutOriginLane(Task task, Long agvId) {
        Long codeId = null;
        TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl());
        switch (Objects.requireNonNull(typeType)) {
@@ -201,7 +206,7 @@
                break;
            case STA_TO_LOC:
            case STA_TO_STA:
                codeId = staService.getById(task.getOriSta()).getCode();
                codeId = staService.resolveWorkCodeId(staService.getById(task.getOriSta()), agvId);
                break;
            default:
                break;
@@ -215,6 +220,11 @@

    @Override
    public LaneDto checkoutDestinationLane(Task task) {
        return checkoutDestinationLane(task, null);
    }

    @Override
    public LaneDto checkoutDestinationLane(Task task, Long agvId) {
        Long codeId = null;
        TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl());
        switch (Objects.requireNonNull(typeType)) {
@@ -224,7 +234,7 @@
                break;
            case LOC_TO_STA:
            case STA_TO_STA:
                codeId = staService.getById(task.getDestSta()).getCode();
                codeId = staService.resolveWorkCodeId(staService.getById(task.getDestSta()), agvId);
                break;
            default:
                break;
@@ -281,6 +291,15 @@
            wrapper.eq(Task::getTaskSts, taskSts.val());
        }
        return this.list(wrapper).stream().findFirst().orElse(null);
    }

    @Override
    public void refreshWorkCodes(Task task, Long agvId) {
        if (task == null) {
            return;
        }
        task.setOriCode(resolveOriginCodeId(task, agvId));
        task.setDestCode(resolveDestinationCodeId(task, agvId));
    }

    @Override
@@ -458,4 +477,38 @@
        }
    }

    private Long resolveOriginCodeId(Task task, Long agvId) {
        TaskTypeType taskType = TaskTypeType.get(task.getTaskTypeEl());
        if (taskType == null) {
            return task.getOriCode();
        }
        switch (taskType) {
            case LOC_TO_LOC:
            case LOC_TO_STA:
                return task.getOriLoc() == null ? null : locService.getById(task.getOriLoc()).getCode();
            case STA_TO_LOC:
            case STA_TO_STA:
                return task.getOriSta() == null ? null : staService.resolveWorkCodeId(staService.getById(task.getOriSta()), agvId);
            default:
                return task.getOriCode();
        }
    }

    private Long resolveDestinationCodeId(Task task, Long agvId) {
        TaskTypeType taskType = TaskTypeType.get(task.getTaskTypeEl());
        if (taskType == null) {
            return task.getDestCode();
        }
        switch (taskType) {
            case LOC_TO_LOC:
            case STA_TO_LOC:
                return task.getDestLoc() == null ? null : locService.getById(task.getDestLoc()).getCode();
            case LOC_TO_STA:
            case STA_TO_STA:
                return task.getDestSta() == null ? null : staService.resolveWorkCodeId(staService.getById(task.getDestSta()), agvId);
            default:
                return task.getDestCode();
        }
    }

}