#

luxiaotao1123

2026-04-17 b4e556f17b30030cc97e2bfa8886e204e4a09637

#

 zy-acs-common/src/main/java/com/zy/acs/common/hk/action/HkInstantActionMessage.java

@@ -14,5 +14,5 @@
public class HkInstantActionMessage extends HkMessageHeader {

    // 即时动作数组
    private List<HkAction> instantActions;
    private List<HkAction> actions;
}

 zy-acs-hk/zy-acs-hk-latent/src/main/java/com/zy/acs/hk/latent/listen/HkInstantActionMessageListener.java

@@ -90,7 +90,7 @@
        if (Cools.isEmpty(instantActionMessage.getSerialNumber())) {
            return null;
        }
        if (Cools.isEmpty(instantActionMessage.getInstantActions())) {
        if (Cools.isEmpty(instantActionMessage.getActions())) {
            return null;
        }
        return instantActionMessage;

 zy-acs-hk/zy-acs-hk-latent/src/main/java/com/zy/acs/hk/latent/mqtt/publisher/HkInstantActionPublisher.java

@@ -28,7 +28,7 @@
        if (Cools.isEmpty(instantActionMessage.getSerialNumber())) {
            throw new IllegalArgumentException("instantActionMessage.serialNumber can not be blank");
        }
        if (instantActionMessage.getInstantActions() == null || instantActionMessage.getInstantActions().isEmpty()) {
        if (instantActionMessage.getActions() == null || instantActionMessage.getActions().isEmpty()) {
            throw new IllegalArgumentException("instantActionMessage.instantActions can not be empty");
        }

@@ -41,7 +41,7 @@

        log.info("publish hk instant action message, agvNo={}, actionCount={}, topic={}",
                instantActionMessage.getSerialNumber(),
                instantActionMessage.getInstantActions().size(),
                instantActionMessage.getActions().size(),
                topic);
    }
}

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

@@ -6,6 +6,7 @@
import com.zy.acs.common.hk.action.HkInstantActionDown;
import com.zy.acs.common.hk.action.HkInstantActionMessage;
import com.zy.acs.common.hk.action.type.HkActionType;
import com.zy.acs.common.hk.action.type.HkBlockingType;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
@@ -55,7 +56,7 @@
        message.setVersion(hikOrderProperties.getMajorVersion());
        message.setManufacturer(hikOrderProperties.getManufacturer());
        message.setSerialNumber(agvNo);
        message.setInstantActions(Utils.singletonList(buildCancelOrderAction()));
        message.setActions(Utils.singletonList(buildCancelOrderAction()));

        HkInstantActionDown down = new HkInstantActionDown();
        down.setAgvNo(agvNo);
@@ -70,13 +71,13 @@
        HkAction action = new HkAction();
        action.setActionId("cancelOrder-" + snowflakeIdWorker.nextId());
        action.setActionType(HkActionType.CANCEL_ORDER);
        action.setActionDescription("restoreAgv cancel current order");

//        action.setActionDescription("restoreAgv cancel current order");
        action.setBlockingType(HkBlockingType.HARD);
        List<HkActionParameter> parameters = new ArrayList<>();
        HkActionParameter parameter = new HkActionParameter();
        parameter.setKey("instantStop");
        parameter.setValue(Boolean.FALSE);   // true: 立即停车， false：在就近点位上停车
        parameters.add(parameter);
//        HkActionParameter parameter = new HkActionParameter();
//        parameter.setKey("instantStop");
//        parameter.setValue(Boolean.FALSE);   // true: 立即停车， false：在就近点位上停车
//        parameters.add(parameter);
        action.setActionParameters(parameters);
        return action;
    }

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

@@ -323,7 +323,7 @@
    private HkAction buildRotateAgvAction(Action action, Double targetDirection, AgvModel agvModel) {
        HkAction hkAction = new HkAction();
        hkAction.setActionId("A" + action.getId());
        hkAction.setActionDescription(ActionTypeType.TurnCorner.desc);
//        hkAction.setActionDescription(ActionTypeType.TurnCorner.desc);
        hkAction.setBlockingType(HkBlockingType.HARD);
        hkAction.setActionType(HkActionType.ROTATE_AGV);