From 027539e209365e0430573052d627697e9b9d8446 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 02 二月 2026 11:24:23 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java | 49 ++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 44 insertions(+), 5 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
index 0814a51..56079cf 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
@@ -3,12 +3,13 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.Base62;
import com.zy.acs.common.utils.RedisSupport;
-import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.annotation.OperationLog;
+import com.zy.acs.manager.common.config.UplinkProperties;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.*;
@@ -64,7 +65,7 @@
@Autowired
private StaService staService;
@Autowired
- private TrafficService trafficService;
+ private UplinkProperties uplinkProperties;
@Autowired
private ThreadPoolRegulator threadPoolRegulator;
@Autowired
@@ -75,6 +76,8 @@
private PatrolService patrolService;
@Autowired
private StaReserveService staReserveService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
@PreAuthorize("hasAuthority('manager:agv:update')")
@OperationLog("Locate All Agv")
@@ -162,12 +165,13 @@
Task task = new Task();
task.setAgvId(agv.getId());
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
- task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
+// List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
+// task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
+ task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));
task.setTaskType(param.getTaskMode().val());
task.setTaskSts(TaskStsType.WAITING.val());
-
+ task.setUplinkSts(uplinkProperties.getEnabled() ? TaskUplinkStateType.PENDING.toString() : TaskUplinkStateType.SKIPPED.toString());
task.setPriority(999);
task.setIoTime(now);
task.setStartTime(now);
@@ -192,6 +196,9 @@
}
if (null == endCode) {
return R.error();
+ }
+ if (!agvAreaDispatcher.match(agv.getId(), endCode.getId())) {
+ throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + endCode.getData());
}
if (!taskService.removeById(task.getId())) {
throw new BusinessException("failed to remove task");
@@ -222,6 +229,10 @@
if (null == oriLoc) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), oriLoc.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriLoc.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈捐捣濮嬪簱浣嶃��" + oriLoc.getLocNo() + "銆�");
+ }
if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
throw new BusinessException("oriLoc锛�" + oriLoc.getLocNo() + " 涓嶆槸鍦ㄥ簱鐘舵��");
}
@@ -240,6 +251,10 @@
}
if (null == destLoc) {
return R.error();
+ }
+ if (!agvAreaDispatcher.match(agv.getId(), destLoc.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destLoc.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈剧洰鏍囧簱浣嶃��" + destLoc.getLocNo() + "銆�");
}
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
throw new BusinessException("destLoc锛�" + destLoc.getLocNo() + " 涓嶆槸绌洪棽鐘舵��");
@@ -267,6 +282,10 @@
if (null == oriLoc) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), oriLoc.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriLoc.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈捐捣濮嬪簱浣嶃��" + oriLoc.getLocNo() + "銆�");
+ }
if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
throw new BusinessException("oriLoc锛�" + oriLoc.getLocNo() + " 涓嶆槸鍦ㄥ簱鐘舵��");
}
@@ -285,6 +304,10 @@
}
if (null == destSta) {
return R.error();
+ }
+ if (!agvAreaDispatcher.match(agv.getId(), destSta.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destSta.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈剧洰鏍囩珯鐐广��" + destSta.getStaNo() + "銆�");
}
if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
throw new BusinessException("destSta锛�" + destSta.getStaNo() + " 棰勭害澶辫触");
@@ -308,6 +331,10 @@
if (null == oriSta) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), oriSta.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriSta.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈捐捣濮嬬珯鐐广��" + oriSta.getStaNo() + "銆�");
+ }
if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
throw new BusinessException("oriSta锛�" + oriSta.getStaNo() + " 棰勭害澶辫触");
}
@@ -321,6 +348,10 @@
}
if (null == destLoc) {
return R.error();
+ }
+ if (!agvAreaDispatcher.match(agv.getId(), destLoc.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destLoc.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈剧洰鏍囧簱浣嶃��" + destLoc.getLocNo() + "銆�");
}
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
throw new BusinessException("destLoc锛�" + destLoc.getLocNo() + " 涓嶆槸绌洪棽鐘舵��");
@@ -350,6 +381,10 @@
if (null == oriSta) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), oriSta.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriSta.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈捐捣濮嬬珯鐐广��" + oriSta.getStaNo() + "銆�");
+ }
if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
throw new BusinessException("oriSta锛�" + oriSta.getStaNo() + " 棰勭害澶辫触");
}
@@ -365,6 +400,10 @@
if (null == destSta) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), destSta.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destSta.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈剧洰鏍囩珯鐐广��" + destSta.getStaNo() + "銆�");
+ }
if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
throw new BusinessException("destSta锛�" + destSta.getStaNo() + " 棰勭害澶辫触");
}
--
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