#

vincentlu

2026-03-25 ce641129b3d43df13f322319ac4b39fa29fd3840

#

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

@@ -1585,216 +1585,186 @@
    @Transactional
    public void publishAction(String actionGroupId) {
        try {
            List<Action> actionList = listPrepareActions(actionGroupId);
            // action
            List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
                    .eq(Action::getGroupId, actionGroupId)
                    .eq(Action::getActionSts, ActionStsType.PREPARE.val())
                    .orderByDesc(Action::getPriority));
            if (Cools.isEmpty(actionList)) {
                return;
            }

            Long agvId = actionList.get(0).getAgvId();
            AgvModel agvModel = agvModelService.getByAgvId(agvId);
            if (hikOrderPublishService.support(agvModel)) {
                publishActionForHik(actionGroupId);
                return;
            }

            Date now = new Date();
            String agvNo = agvService.getAgvNo(agvId);
            if (!agvService.judgeOnline(agvId)) {
                return;
            }

            markActionAndTaskIssued(actionGroupId, actionList, now);

            AgvAction agvAction = new AgvAction(agvNo, actionGroupId);
            Date now = new Date();
            long actionIssuedSts = ActionStsType.ISSUED.val();
            for (Action action : actionList) {
                switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
                    case TurnCorner:
                        agvAction.add(new AgvActionItem<>(TurnCornerAction.class)
                                .setQrCode(action.getCode())
                                .setVal(Optional.ofNullable(action.getVal()).orElse(0D).intValue())
                                .bodySync(body -> body.setAngle((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case StraightBackUnturnable:
                        break;
                    case StraightBackTurnable:
                        agvAction.add(new AgvActionItem<>(StraightBackTurnableAction.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case StraightAheadUnturnable:
                        break;
                    case StraightAheadTurnable:
                        agvAction.add(new AgvActionItem<>(StraightAheadTurnableAction.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case ReadyTakeFromShelvesLoc:
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyTakeFromConveyorSta:
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyTakeFromAgvSite:
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case ReadyReleaseToShelvesLoc:
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyReleaseToConveyorSta:
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync((body) -> {
                                    HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                    body.setHeight(heightDepthDto.getHeight());
                                    body.setDepth(heightDepthDto.getDepth());
                                })
                        );
                        break;
                    case ReadyReleaseToAgvSite:
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case LoadPlatformLift:
                        agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case FinishPath:
                        agvAction.add(new AgvActionItem<>(FinishPathAction.class)
                                .setQrCode(action.getCode())
                        );
                        break;
                    case DockingCharge:
                        agvAction.add(new AgvActionItem<>(DockingChargeAction.class)
                                .setQrCode(action.getCode())
                        );
                        break;
                    case UndockingCharge:
                        agvAction.add(new AgvActionItem<>(UndockingChargeAction.class)
                                .setQrCode(action.getCode())
                        );
                        break;
                    default:
                        break;
                action.setActionSts(actionIssuedSts);
                action.setStartTime(now);
                action.setIoTime(now);
                action.setUpdateTime(now);
            }
            if (!actionService.updateBatchById(actionList)) {
                throw new BusinessException("failed to update action batch !!!");
            }

            // task
            List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
            long taskAssignSts = TaskStsType.ASSIGN.val();
            long taskProgressSts = TaskStsType.PROGRESS.val();
            for (Long taskId : taskIds) {
                Task task = taskService.getById(taskId);
                if (task.getTaskSts().equals(taskAssignSts)) {
                    task.setTaskSts(taskProgressSts);
                    task.setUpdateTime(now);
                    if (!taskService.updateById(task)) {
                        throw new BusinessException(task.getSeqNum() + "任务更新失败");
                    }
                }
            }

            String agvNo = agvService.getAgvNo(agvId);
            AgvModel agvModel = agvModelService.getByAgvId(agvId);

            // hik robot
            if (hikOrderPublishService.support(agvModel)) {

                hikOrderPublishService.publish(actionGroupId, agvNo, agvModel, actionList);
                News.info("海康任务组 [{}] order 已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());

            // zoneyung robot
            } else {
                AgvAction agvAction = new AgvAction(agvNo, actionGroupId);
                for (Action action : actionList) {
                    switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
                        case TurnCorner:
                            agvAction.add(new AgvActionItem<>(TurnCornerAction.class)
                                    .setQrCode(action.getCode())
                                    .setVal(Optional.ofNullable(action.getVal()).orElse(0D).intValue())
                                    .bodySync(body -> body.setAngle((short) Double.parseDouble(action.getParams())))
                            );
                            break;
                        case StraightBackUnturnable:
                            break;
                        case StraightBackTurnable:
                            agvAction.add(new AgvActionItem<>(StraightBackTurnableAction.class)
                                    .setVal(action.getVal().intValue())
                                    .setQrCode(action.getCode())
                                    .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams())))
                            );
                            break;
                        case StraightAheadUnturnable:
                            break;
                        case StraightAheadTurnable:
                            agvAction.add(new AgvActionItem<>(StraightAheadTurnableAction.class)
                                    .setVal(action.getVal().intValue())
                                    .setQrCode(action.getCode())
                                    .bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams())))
                            );
                            break;
                        case ReadyTakeFromShelvesLoc:
                            agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class)
                                    .setVal(action.getVal().intValue())
                                    .setQrCode(action.getCode())
                                    .bodySync((body) -> {
                                        HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                        body.setHeight(heightDepthDto.getHeight());
                                        body.setDepth(heightDepthDto.getDepth());
                                    })
                            );
                            break;
                        case ReadyTakeFromConveyorSta:
                            agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
                                    .setVal(action.getVal().intValue())
                                    .setQrCode(action.getCode())
                                    .bodySync((body) -> {
                                        HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                        body.setHeight(heightDepthDto.getHeight());
                                        body.setDepth(heightDepthDto.getDepth());
                                    })
                            );
                            break;
                        case ReadyTakeFromAgvSite:
                            agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
                                    .setVal(action.getVal().intValue())
                                    .setQrCode(action.getCode())
                                    .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
                            );
                            break;
                        case ReadyReleaseToShelvesLoc:
                            agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
                                    .setVal(action.getVal().intValue())
                                    .setQrCode(action.getCode())
                                    .bodySync((body) -> {
                                        HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                        body.setHeight(heightDepthDto.getHeight());
                                        body.setDepth(heightDepthDto.getDepth());
                                    })
                            );
                            break;
                        case ReadyReleaseToConveyorSta:
                            agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
                                    .setVal(action.getVal().intValue())
                                    .setQrCode(action.getCode())
                                    .bodySync((body) -> {
                                        HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
                                        body.setHeight(heightDepthDto.getHeight());
                                        body.setDepth(heightDepthDto.getDepth());
                                    })
                            );
                            break;
                        case ReadyReleaseToAgvSite:
                            agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
                                    .setVal(action.getVal().intValue())
                                    .setQrCode(action.getCode())
                                    .bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
                            );
                            break;
                        case LoadPlatformLift:
                            agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
                                    .setVal(action.getVal().intValue())
                                    .setQrCode(action.getCode())
                                    .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                            );
                            break;
                        case FinishPath:
                            agvAction.add(new AgvActionItem<>(FinishPathAction.class)
                                    .setQrCode(action.getCode())
                            );
                            break;
                        case DockingCharge:
                            agvAction.add(new AgvActionItem<>(DockingChargeAction.class)
                                    .setQrCode(action.getCode())
                            );
                            break;
                        case UndockingCharge:
                            agvAction.add(new AgvActionItem<>(UndockingChargeAction.class)
                                    .setQrCode(action.getCode())
                            );
                            break;
                        default:
                            break;
                    }

                }

                BaseResult<?> result = agvCmdService.executeAgvActionCmd(agvAction);
                if (result.success()) {
                    News.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());
                } else {
                    News.error("任务组 [{}] 动作指令下发失败 ！！！", actionGroupId);
                    throw new CoolException("任务组 [{" + actionGroupId + "}] 动作指令下发失败 ！！！");
                }
            }

            BaseResult<?> result = agvCmdService.executeAgvActionCmd(agvAction);
            if (result.success()) {
                News.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());
            } else {
                News.error("任务组 [{}] 动作指令下发失败 ！！！", actionGroupId);
                throw new CoolException("任务组 [{" + actionGroupId + "}] 动作指令下发失败 ！！！");
            }
        } catch (Exception e) {
            News.error("mainService.publishAction", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }

    }

    @Transactional
    public void publishActionForHik(String actionGroupId) {
        try {
            List<Action> actionList = listPrepareActions(actionGroupId);
            if (Cools.isEmpty(actionList)) {
                return;
            }

            Long agvId = actionList.get(0).getAgvId();
            String agvNo = agvService.getAgvNo(agvId);
            if (!agvService.judgeOnline(agvId)) {
                return;
            }

            AgvModel agvModel = agvModelService.getByAgvId(agvId);
            if (!hikOrderPublishService.support(agvModel)) {
                throw new CoolException("agv [" + agvNo + "] protocol is not hik");
            }

            Date now = new Date();
            markActionAndTaskIssued(actionGroupId, actionList, now);

            hikOrderPublishService.publish(actionGroupId, agvNo, agvModel, actionList);
            News.info("海康任务组 [{}] order 已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());
        } catch (Exception e) {
            News.error("mainService.publishActionForHik", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

    private List<Action> listPrepareActions(String actionGroupId) {
        return actionService.list(new LambdaQueryWrapper<Action>()
                .eq(Action::getGroupId, actionGroupId)
                .eq(Action::getActionSts, ActionStsType.PREPARE.val())
                .orderByDesc(Action::getPriority));
    }

    private void markActionAndTaskIssued(String actionGroupId, List<Action> actionList, Date now) {
        long actionIssuedSts = ActionStsType.ISSUED.val();
        for (Action action : actionList) {
            action.setActionSts(actionIssuedSts);
            action.setStartTime(now);
            action.setIoTime(now);
            action.setUpdateTime(now);
        }
        if (!actionService.updateBatchById(actionList)) {
            throw new BusinessException("failed to update action batch !!!");
        }

        List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
        long taskAssignSts = TaskStsType.ASSIGN.val();
        long taskProgressSts = TaskStsType.PROGRESS.val();
        for (Long taskId : taskIds) {
            Task task = taskService.getById(taskId);
            if (task != null && task.getTaskSts().equals(taskAssignSts)) {
                task.setTaskSts(taskProgressSts);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    throw new BusinessException(task.getSeqNum() + "任务更新失败");
                }
            }
        }
    }

    @Transactional