#

vincentlu

2025-12-29 ef24ea7286c496625dfc74aff2723ffdbd9b0049

#

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

@@ -1464,45 +1464,62 @@
        // 取放货请求包
        if (msgBody instanceof AGV_06_UP) {
            AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;

            log.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));

            // query current segment
            Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), agv_06_up.getQrCode());
            if (null == currSeg) {
                log.error("failed to find curr segment [{}]", agv.getUuid());
            } else {
            boolean success = false;

                boolean responseAck = true;
                TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
                assert null != posType;
                switch (posType) {
                    case ORI_LOC:
                    case DEST_LOC:
                        break;
                    case ORI_STA:
                    case DEST_STA:
                        // todo
                        break;
                    default:
                        responseAck = false;
                        log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                        break;
            try {
                Code code = codeService.getCacheByData(agv_06_up.getQrCode());

                // query current segment
                Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
                if (null == currSeg) {
                    log.error("failed to find curr segment [{}]", agv.getUuid());
                } else {

                    // query current task
                    Task currTask = taskService.getById(currSeg.getTaskId());
                    if (currTask == null || !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {

                        log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
                    } else {

                        Sta sta;
                        TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
                        assert null != posType;
                        switch (posType) {
                            case ORI_LOC:
                            case DEST_LOC:
                                success = true;
                                break;
                            case ORI_STA:
                                sta = staService.getById(currTask.getOriSta());
                                success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT);
                                // load sta
                                // remove expiredTime
                                break;
                            case DEST_STA:
                                // place sta
                                sta = staService.getById(currTask.getDestSta());
                                success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN);
                                break;
                            default:
                                log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                break;
                        }
                    }

                }

                if (responseAck) {

                    // todo:vincent 校验是否可以取放货

                    AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
                    agv_06_down.setSerialNo(agv_06_up.getSerialNo());
                    agv_06_down.setActionCode(agv_06_up.getActionCode());
                    agv_06_down.setResult(1);

                    redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
                }

            } catch (Exception e) {
                log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
            }

            AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
            agv_06_down.setSerialNo(agv_06_up.getSerialNo());
            agv_06_down.setActionCode(agv_06_up.getActionCode());
            agv_06_down.setResult(success ? 1 : 0);

            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }

        // 料仓信息包

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

@@ -1,5 +1,8 @@
package com.zy.acs.manager.manager.enums;

import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;

public enum StaReserveStateType {

    RESERVED,
@@ -9,4 +12,16 @@
    TIMEOUT,
    ;

    public static StaReserveStateType of(String state) {
        if (Cools.isEmpty(state)) {
            return null;
        }
        for (StaReserveStateType type : StaReserveStateType.values()) {
            if (type.toString().equals(state)) {
                return type;
            }
        }
        throw new CoolException("failed to find StaReserveStateType for [" + state + "]");
    }

}

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/StaReserveMapper.java

@@ -17,4 +17,11 @@
            , @Param("state") String state
    );

    int updateStateToWaiting(
            @Param("taskId") Long taskId
            , @Param("staId") Long staId
            , @Param("type") String type
            , @Param("state") String state
    );

}

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

@@ -26,6 +26,6 @@

    Boolean cancel(Long segmentId, Long userId);

    Segment getCurrRunningSeg(Long agvId, String qrCode);
    Segment getCurrRunningSeg(Long agvId, Long codeId);

}

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

@@ -12,6 +12,10 @@

    StaReserve reserveStaOut(Sta sta, Task task, Integer qty);


    Boolean waitingStaReserve(Sta sta, Task task, Integer qty, StaReserveType type);


    void confirmStaReserve(Sta sta, Task task, Integer qty, StaReserveType type);

    void cancelStaReserve(Sta sta, Task task, Integer qty, StaReserveType type);

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

@@ -2,8 +2,8 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.enums.ActionStsType;
@@ -11,7 +11,6 @@
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.mapper.SegmentMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.framework.common.Cools;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -150,8 +149,7 @@
    }

    @Override
    public Segment getCurrRunningSeg(Long agvId, String qrCode) {
        Code codeId = codeService.getCacheByData(qrCode);
    public Segment getCurrRunningSeg(Long agvId, Long codeId) {
        List<Segment> segments = this.list(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getAgvId, agvId)
                .eq(Segment::getState, SegmentStateType.RUNNING.toString())

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

@@ -1,6 +1,8 @@
package com.zy.acs.manager.manager.service.impl;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.manager.entity.Sta;
import com.zy.acs.manager.manager.entity.StaReserve;
@@ -17,12 +19,16 @@
import org.springframework.transaction.annotation.Transactional;

import java.util.Date;
import java.util.List;
import java.util.Objects;
import java.util.Optional;

@Service("staReserveService")
public class StaReserveServiceImpl extends ServiceImpl<StaReserveMapper, StaReserve> implements StaReserveService {

    public static final Long RESERVE_EXPIRE_TIME = 30 * 60 * 1000L;

    public static final Integer DEFAULT_QTY = 1;

    @Autowired
    private StaService staService;
@@ -32,7 +38,7 @@
    @Override
    @Transactional(rollbackFor = Exception.class)
    public StaReserve reserveStaIn(Sta sta, Task task, Integer qty) {
        qty = Optional.ofNullable(qty).orElse(1);
        qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);

        // reserve sta in
        if (staMapper.tryReserveIn(sta.getId(), qty) < qty) {
@@ -66,7 +72,7 @@
    @Override
    @Transactional(rollbackFor = Exception.class)
    public StaReserve reserveStaOut(Sta sta, Task task, Integer qty) {
        qty = Optional.ofNullable(qty).orElse(1);
        qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);

        // reserve sta out
        if (staMapper.tryReserveOut(sta.getId(), qty) < qty) {
@@ -100,8 +106,44 @@

    @Override
    @Transactional(rollbackFor = Exception.class)
    public Boolean waitingStaReserve(Sta sta, Task task, Integer qty, StaReserveType type) {
        qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);

        // update reserve to be waiting state
        if (0 < this.baseMapper.updateStateToWaiting(sta.getId()
                , task.getId()
                , type.toString()
                , StaReserveStateType.WAITING.toString())) {
            return true;
        }

        List<StaReserve> list = this.list(new LambdaQueryWrapper<StaReserve>()
                .eq(StaReserve::getStaId, sta.getId())
                .eq(StaReserve::getTaskId, task.getId())
                .eq(StaReserve::getType, type.toString())
                .eq(StaReserve::getStatus, StatusType.ENABLE.val)
        );

        if (Cools.isEmpty(list)) {
            return false;
        }

        StaReserve reserve = list.get(0);

        StaReserveStateType stateType = StaReserveStateType.of(reserve.getState());
        switch (Objects.requireNonNull(stateType)) {
            case WAITING:
            case CONFIRMED:
                return true;
            default:
                return false;
        }
    }

    @Override
    @Transactional(rollbackFor = Exception.class)
    public void confirmStaReserve(Sta sta, Task task, Integer qty, StaReserveType type) {
        qty = Optional.ofNullable(qty).orElse(1);
        qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);

        // update reserve state to be confirmed
        if (0 == this.baseMapper.updateState(task.getId(), sta.getId(), type.toString(), StaReserveStateType.CONFIRMED.toString())) {
@@ -127,7 +169,7 @@

    @Override
    public void cancelStaReserve(Sta sta, Task task, Integer qty, StaReserveType type) {
        qty = Optional.ofNullable(qty).orElse(1);
        qty = Optional.ofNullable(qty).orElse(DEFAULT_QTY);

        // update reserve state to be canceled
        if (0 == this.baseMapper.updateState(task.getId(), sta.getId(), type.toString(), StaReserveStateType.CANCELLED.toString())) {

 zy-acs-manager/src/main/resources/mapper/manager/StaReserveMapper.xml

@@ -13,7 +13,20 @@
        AND type = #{type}
        AND deleted = 0
        AND status = 1
--           AND state IN ('WAITING','RESERVED');
--           AND state IN ('WAITING','RESERVED')
    </update>

    <update id="updateStateToWaiting">
        UPDATE man_sta_reserve
        SET state = #{state},
            waiting_at = IFNULL(waiting_at, NOW()),
            update_time = NOW()
        WHERE task_id = #{taskId}
        AND sta_id = #{staId}
        AND type = #{type}
        AND deleted = 0
        AND status = 1
--         AND state IN ('RESERVED','WAITING')
    </update>

</mapper>