parent: d59d4495 | 补丁 | 提交 | show whitespace
#
vincentlu
2025-04-01 6166c4551aa61019413713e8f2ce1aa626dec971 
#
5个文件已修改
1个文件已添加
247 ■■■■■ 已修改文件
version/db/jbly/20250401/dual.sql 12 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvDirectionType.java 1 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java 158 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java 16 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/entity/Sta.java 56 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java 4 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 
 version/db/jbly/20250401/dual.sql


New file


@@ -0,0 +1,12 @@


INSERT INTO man_sta_sts (id, uuid, name, status, deleted, tenant_id, create_by, create_time, update_by, update_time, memo) VALUES (15, 'IDLE', '空闲', 1, 0, 2, 41, '2023-06-09 02:11:08', 41, '2023-06-09 02:11:38', '');


INSERT INTO man_sta_sts (id, uuid, name, status, deleted, tenant_id, create_by, create_time, update_by, update_time, memo) VALUES (16, 'STOCK', '有货', 1, 0, 2, 41, '2023-06-09 02:11:20', 41, '2023-06-18 15:20:31', '');


INSERT INTO man_sta_sts (id, uuid, name, status, deleted, tenant_id, create_by, create_time, update_by, update_time, memo) VALUES (17, 'PAKIN', '放货预约', 1, 0, null, 41, '2023-06-18 15:20:58', 41, '2023-06-18 15:20:58', '');


INSERT INTO man_sta_sts (id, uuid, name, status, deleted, tenant_id, create_by, create_time, update_by, update_time, memo) VALUES (18, 'PAKOUT', '取货预约', 1, 0, null, 41, '2023-06-18 15:21:08', 41, '2023-06-18 15:21:08', '');


INSERT INTO man_sta_sts (id, uuid, name, status, deleted, tenant_id, create_by, create_time, update_by, update_time, memo) VALUES (19, 'DISABLED', '禁用', 1, 0, null, 41, '2023-06-18 15:21:29', 41, '2023-06-18 15:21:29', '');


INSERT INTO man_sta_sts (id, uuid, name, status, deleted, tenant_id, create_by, create_time, update_by, update_time, memo) VALUES (20, 'OTHER', '其他', 1, 0, null, 41, '2023-06-21 21:17:06', 41, '2023-06-21 21:17:06', '');




alter table man_sta


    add angle varchar(255) null comment '作业角度' after offset;




INSERT INTO man_action_type (id, uuid, name, status, deleted, tenant_id, create_by, create_time, update_by, update_time, memo) VALUES (26, 'ReadyTakeFromConveyorSta', '准备从输送线取货', 1, 0, null, 41, '2023-06-09 19:41:10', 41, '2023-06-09 19:41:10', null);


INSERT INTO man_action_type (id, uuid, name, status, deleted, tenant_id, create_by, create_time, update_by, update_time, memo) VALUES (27, 'ReadyReleaseToConveyorSta', '准备往输送线放货', 1, 0, null, 41, '2023-06-09 19:41:10', 41, '2023-06-09 19:41:10', null);




 zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvDirectionType.java


@@ -4,6 +4,7 @@




    LEFT(1),


    RIGHT(2),


    FORWARD(0),


    ;




    public int val;




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


@@ -866,28 +866,11 @@


                        // 检验方向


                        if (!lastDirection.equals(workDirection)) {


                            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(workDirection),   // 动作参数


//                                    ActionTypeType.TurnCorner.val(),    // 动作类型


//                                    actionPrepareSts,    // 动作进度


//                                    agvId,    // AGV


//                                    now    // 工作时间


//                            ));


//                            lastDirection = workDirection;


                        }


                        // 货架取货


                        Loc oriLoc = locService.getById(task.getOriLoc());


                        // 计算左右方向


                        agvDirectionType = mapService.calculateAgvWorkDirection(oriLoc, lastCode);


                        agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);


                        actionList.add(new Action(


                                null,    // 编号


                                task.getBusId(),    // 总线


@@ -925,23 +908,6 @@


                        // 检验方向


                        if (!lastDirection.equals(workDirection)) {


                            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(workDirection),   // 动作参数


//                                    ActionTypeType.TurnCorner.val(),    // 动作类型


//                                    actionPrepareSts,    // 动作进度


//                                    agvId,    // AGV


//                                    now    // 工作时间


//                            ));


//                            lastDirection = workDirection;


                        }


                        // 暂存点取货货


                        actionList.add(new Action(


@@ -963,7 +929,7 @@


                        // 货架放货


                        Loc destLoc = locService.getById(task.getDestLoc());


                        // 计算左右方向


                        agvDirectionType = mapService.calculateAgvWorkDirection(destLoc, lastCode);


                        agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);


                        actionList.add(new Action(


                                null,    // 编号


                                task.getBusId(),    // 总线


@@ -981,8 +947,128 @@


                        ));


                        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


                        agvDirectionType = mapService.calculateAgvWorkDirectionByStation(oriSta, lastCode);


                        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


                                lastCode.getData(),    // 地面码


                                String.valueOf(oriSta.getOffset()),   // 动作参数


                                ActionTypeType.ReadyTakeFromShelvesLoc.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


                        agvDirectionType = mapService.calculateAgvWorkDirectionByStation(destSta, lastCode);


                        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


                                lastCode.getData(),    // 地面码


                                String.valueOf(destSta.getOffset()),   // 动作参数


                                ActionTypeType.ReadyReleaseToShelvesLoc.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




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


@@ -12,6 +12,7 @@


import com.zy.acs.manager.manager.entity.Code;


import com.zy.acs.manager.manager.entity.Loc;


import com.zy.acs.manager.manager.entity.Segment;


import com.zy.acs.manager.manager.entity.Sta;


import com.zy.acs.manager.manager.service.ActionService;


import com.zy.acs.manager.manager.service.CodeService;


import com.zy.acs.manager.system.service.ConfigService;


@@ -154,7 +155,7 @@


    }




    // 坐标货架阈值 todo:luxiaotao


    public AgvDirectionType calculateAgvWorkDirection(Loc loc, Code code) {


    public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {


        Integer compDirect = loc.getCompDirect();


        AgvDirectionType agvDirectionType = null;


        if (compDirect == 0) {


@@ -166,6 +167,19 @@


        return agvDirectionType;


    }




    public Double getStaAngle(Sta sta, Double workDirection) {


        if (null == sta) {


            return null;


        }


        if (Cools.isEmpty(sta.getAngle())) {


            return workDirection;


        }


        return Double.parseDouble(sta.getAngle());


    }




    public AgvDirectionType calculateAgvWorkDirectionByStation(Sta sta, Code code) {


        return AgvDirectionType.FORWARD;


    }




    public double calculateDistance(double x1, double y1, double x2, double y2) {


        double deltaX = x2 - x1;




 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/entity/Sta.java


@@ -71,6 +71,12 @@


    private Double offset;




    /**


     * 作业角度


     */


    @ApiModelProperty(value= "作业角度")


    private String angle;




    /**


     * 自动


     */


    @ApiModelProperty(value= "自动")


@@ -153,56 +159,6 @@


     */


    @ApiModelProperty(value= "备注")


    private String memo;




    public Sta() {}




    public Sta(String uuid,Long zoneId,String staNo,String name,Long staType,Long code,Double offset,String autoing,String loading,String inEnable,String outEnable,String zpallet,Long staSts,Integer status,Integer deleted,Long tenantId,Long createBy,Date createTime,Long updateBy,Date updateTime,String memo) {


        this.uuid = uuid;


        this.zoneId = zoneId;


        this.staNo = staNo;


        this.name = name;


        this.staType = staType;


        this.code = code;


        this.offset = offset;


        this.autoing = autoing;


        this.loading = loading;


        this.inEnable = inEnable;


        this.outEnable = outEnable;


        this.zpallet = zpallet;


        this.staSts = staSts;


        this.status = status;


        this.deleted = deleted;


        this.tenantId = tenantId;


        this.createBy = createBy;


        this.createTime = createTime;


        this.updateBy = updateBy;


        this.updateTime = updateTime;


        this.memo = memo;


    }




//    Sta sta = new Sta(


//            null,    // 编号


//            null,    // 库区


//            null,    // 站号


//            null,    // 名称


//            null,    // 站类型[非空]


//            null,    // 条码


//            null,    // 偏移量


//            null,    // 自动


//            null,    // 有物


//            null,    // 可入


//            null,    // 可出


//            null,    // 托盘码


//            null,    // 站状态


//            null,    // 状态[非空]


//            null,    // 是否删除[非空]


//            null,    // 租户


//            null,    // 添加人员


//            null,    // 添加时间[非空]


//            null,    // 修改人员


//            null,    // 修改时间


//            null    // 备注


//    );




    public String getZoneId$(){


        ZoneService service = SpringUtils.getBean(ZoneService.class);




 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java


@@ -16,8 +16,10 @@


    StraightAheadUnturnable("巷道直行前进"), // 巷道直行前进


    StraightAheadTurnable("直行前进"), //     直行前进


    ReadyTakeFromShelvesLoc("准备从货架取货"), //     准备从货架取货


    ReadyTakeFromConveyorSta("准备从输送线取货"), // 准备从输送线取货


    ReadyTakeFromAgvSite("准备从AGV暂存货位取货"), // 准备从AGV暂存货位取货


    ReadyReleaseToShelvesLoc("准备从货架放货"), //     准备从货架放货


    ReadyReleaseToShelvesLoc("准备往货架放货"), //     准备从货架放货


    ReadyReleaseToConveyorSta("准备往输送线放货"), //     准备往输送线放货


    ReadyReleaseToAgvSite("准备往AGV暂存货位放货"), // 准备往AGV暂存货位放货


    FinishPath("整个路径结束"), //     整个路径结束


    DockingCharge("对接充电桩"), //     对接充电桩