From 04c4a9bdc5c4bccd05fb0092bdb4552af2d09bb1 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 29 十二月 2025 08:36:51 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 15 +++++++++------
1 files changed, 9 insertions(+), 6 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 775f301..7dc6ff4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -96,7 +96,6 @@
Travel travel = travelService.getById(segment.getTravelId());
Agv agv = agvService.getById(travel.getAgvId());
- AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
long endNode = segment.getEndNode();
// valid ----------------------------------------------------
@@ -208,9 +207,9 @@
}
// checkout path
- Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
+ Code startCode = agvDetailService.getCurrentCode(travel.getAgvId());
Code endCode = codeService.getCacheById(endNode);
- long startTime = System.currentTimeMillis();
+// long startTime = System.currentTimeMillis();
List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
// System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
if (Cools.isEmpty(pathList)) {
@@ -265,8 +264,11 @@
interrupt = true;
} else {
if (nextStep.getEndNode() == endNode) {
-
- segmentList.add(nextStep);
+ // remove sta action seg
+ if (!nextStep.getPosType().equals(TaskPosDto.PosType.ORI_STA.toString())
+ && !nextStep.getPosType().equals(TaskPosDto.PosType.DEST_STA.toString())) {
+ segmentList.add(nextStep);
+ }
} else {
interrupt = true;
}
@@ -277,7 +279,7 @@
mapService.lockPath(null, pathList, agv.getUuid());
- startTime = System.currentTimeMillis();
+// startTime = System.currentTimeMillis();
mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
// System.out.println("generateAction: " + (System.currentTimeMillis() - startTime));
@@ -491,6 +493,7 @@
// deal expired jam
for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
.eq(Jam::getJamAgv, agv.getId())
+ .ne(Jam::getCycleAvo, 1)
.eq(Jam::getState, JamStateType.RUNNING.toString()))) {
expiredJam.setEndTime(now);
expiredJam.setUpdateTime(now);
--
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