From 0e34b445bdf4cae20a75ac2ace622718e97e8025 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 05 二月 2026 10:41:01 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 261 ++++++++++++++++++++++++++++++---------------------
1 files changed, 154 insertions(+), 107 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index 42b4ba1..230d0e6 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -4,13 +4,11 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.zy.acs.common.constant.RedisConstant;
-import com.zy.acs.common.domain.AgvAction;
-import com.zy.acs.common.domain.AgvActionItem;
-import com.zy.acs.common.domain.AgvProtocol;
-import com.zy.acs.common.domain.BaseResult;
+import com.zy.acs.common.domain.*;
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
+import com.zy.acs.common.utils.Base62;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
@@ -25,7 +23,7 @@
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
-import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
+import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -106,11 +104,12 @@
@Transactional
public Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) {
String errorMsg = busService.checkoutValid(busSubmitParam);
+ Boolean maintainLocSts = configService.getVal("maintainLocSts", Boolean.class);
if (!Cools.isEmpty(errorMsg)) {
throw new BusinessException(errorMsg);
}
- String batch = busSubmitParam.getBatch();
- List<TaskDto> taskDtoList = busSubmitParam.getTaskList();
+ String batchNo = busSubmitParam.getBatchNo();
+ List<TaskDto> taskDtoList = busSubmitParam.getTasks();
if (Cools.isEmpty(taskDtoList)) {
throw new BusinessException("taskList can't be empty!");
}
@@ -125,7 +124,7 @@
Date now = new Date();
Bus bus = new Bus();
bus.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- bus.setBusNo(batch);
+ bus.setBusNo(batchNo);
bus.setStartTime(now);
bus.setBusSts(BusStsType.RECEIVE.val());
bus.setMemo(memo);
@@ -149,35 +148,39 @@
Sta destSta = null;
switch (TaskTypeType.get(task.getTaskTypeEl())) {
case LOC_TO_LOC:
- oriLoc = locService.getById(task.getOriLoc());
- if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
- }
- oriLoc.setLocSts(LocStsType.PAKOUT.val());
- oriLoc.setUpdateTime(now);
- if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
- }
+ if (maintainLocSts) {
+ oriLoc = locService.getById(task.getOriLoc());
+ if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
+ }
+ oriLoc.setLocSts(LocStsType.PAKOUT.val());
+ oriLoc.setUpdateTime(now);
+ if (!locService.updateById(oriLoc)) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
+ }
- destLoc = locService.getById(task.getDestLoc());
- if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
- }
- destLoc.setLocSts(LocStsType.PAKIN.val());
- destLoc.setUpdateTime(now);
- if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
+ destLoc = locService.getById(task.getDestLoc());
+ if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
+ }
+ destLoc.setLocSts(LocStsType.PAKIN.val());
+ destLoc.setUpdateTime(now);
+ if (!locService.updateById(destLoc)) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
+ }
}
break;
case LOC_TO_STA:
- oriLoc = locService.getById(task.getOriLoc());
- if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
- }
- oriLoc.setLocSts(LocStsType.PAKOUT.val());
- oriLoc.setUpdateTime(now);
- if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
+ if (maintainLocSts) {
+ oriLoc = locService.getById(task.getOriLoc());
+ if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
+ }
+ oriLoc.setLocSts(LocStsType.PAKOUT.val());
+ oriLoc.setUpdateTime(now);
+ if (!locService.updateById(oriLoc)) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
+ }
}
destSta = staService.getById(task.getDestSta());
@@ -191,14 +194,16 @@
throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to reserve");
}
- destLoc = locService.getById(task.getDestLoc());
- if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
- }
- destLoc.setLocSts(LocStsType.PAKIN.val());
- destLoc.setUpdateTime(now);
- if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
+ if (maintainLocSts) {
+ destLoc = locService.getById(task.getDestLoc());
+ if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
+ }
+ destLoc.setLocSts(LocStsType.PAKIN.val());
+ destLoc.setUpdateTime(now);
+ if (!locService.updateById(destLoc)) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
+ }
}
break;
case STA_TO_STA:
@@ -251,33 +256,28 @@
, (task, agvNo, sta) -> {
Long agvId = agvService.getAgvId(agvNo);
-// List<Travel> travelList = travelService.list(new LambdaQueryWrapper<Travel>()
-// .eq(Travel::getAgvId, agvId)
-// .eq(Travel::getState, TravelStateType.RUNNING.toString())
-// .orderByDesc(Travel::getCreateTime));
-// if (Cools.isEmpty(travelList)) {
-// throw new BusinessException("[Agv: " + agvNo + "]allocate inbound failed to find travel");
+ Travel travel = travelService.findRunningTravel(agvId);
+ if (null == travel) {
+ throw new CoolException("[Agv:" + agvNo + "] allocate inbound failed: no roller waiting travel");
+ }
+
+ // curr segment
+ Segment currSeg = segmentService.getCurrWaitingSeg(travel.getId(), agvId);
+// if (null == currSeg) {
+// currSeg = segmentService.getCurrRunningSeg(travel.getId(), agvId, null);
// }
-// Travel travel = travelList.get(0);
-//
-// List<Segment> currSegments = segmentService.list(new LambdaQueryWrapper<Segment>()
-// .eq(Segment::getAgvId, agvId)
-// .eq(Segment::getTravelId, travel.getId())
-// );
- // load segment
- Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
if (null == currSeg) {
- throw new BusinessException("[Agv:" + agvNo + "] allocate inbound failed: no roller waiting segment");
+ throw new CoolException("[Agv:" + agvNo + "] allocate inbound failed: no waiting segment");
}
// get backpack lev
int backpackLev = 0;
- int backpack = agvService.getBackpack(agvId);
+ int backpackCap = agvService.getBackpack(agvId);
List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
- if (usedBackpacks.size() >= backpack) {
+ if (usedBackpacks.size() >= backpackCap) {
throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
}
- for (int lev = 1; lev <= backpack; lev++) {
+ for (int lev = 1; lev <= backpackCap; lev++) {
if (!usedBackpacks.contains(lev)) {
backpackLev = lev;
break;
@@ -363,7 +363,6 @@
// DEST-only sort
destPosList.sort((a, b) -> {
-
// 涓昏酱
double aFirst = a.getFirstWeight(sameGroupXy);
double bFirst = b.getFirstWeight(sameGroupXy);
@@ -381,11 +380,10 @@
// get placeSeg serial
int placeSegSerial;
- // query placeSeg idx
int idx = -1;
for (int i = 0; i < destPosList.size(); i++) {
- if (Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())
- && Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())) {
+ if (Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())
+ && Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
idx = i;
break;
}
@@ -492,7 +490,7 @@
try {
// valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId(), false)) {
+ if (!agvService.judgeEnable(agv.getId())) {
return;
}
if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -512,9 +510,9 @@
return o2.getPriority() - o1.getPriority();
}
});
- Integer backpack = agvService.getBackpack(agvId);
- if (taskList.size() > backpack) {
- taskList = taskList.subList(0, backpack);
+ Integer backpackCap = agvService.getBackpack(agvId);
+ if (taskList.size() > backpackCap) {
+ taskList = taskList.subList(0, backpackCap);
}
AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
@@ -584,7 +582,7 @@
}
- if (backpackLev > backpack) {
+ if (backpackLev > backpackCap) {
throw new BusinessException("瑙ｆ瀽Task澶辫触,AGV鑳岀瘬宸叉弧......");
}
@@ -788,7 +786,8 @@
task.setAgvId(agvId);
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()));
+// task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
+ task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));
task.setOriCode(agvDetail.getCode());
task.setDestCode(endCode.getId());
// lane
@@ -799,6 +798,7 @@
task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
task.setTaskSts(TaskStsType.ASSIGN.val());
task.setTaskType(taskType.val());
+ task.setUplinkSts(TaskUplinkStateType.SKIPPED.toString());
task.setIoTime(now);
task.setStartTime(now);
if (!taskService.save(task)) {
@@ -900,6 +900,8 @@
long actionPrepareSts = ActionStsType.PREPARE.val();
// JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
+// Double defaultShelfDepth = configService.getVal("defaultShelfDepth", Double.class);
+// defaultShelfDepth = Optional.ofNullable(defaultShelfDepth).orElse((double) 0);
String agvNo = agvService.getAgvNo(agvId);
// if (!agvService.judgeEnable(agvId)) {
// throw new CoolException("AGV[" + agvNo + "]褰撳墠涓嶅彲鐢�...");
@@ -936,7 +938,6 @@
if (!lastCode.getData().equals(code.getData())) {
// 璧拌璺緞鑺傜偣
-// List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code);
List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
for (int i = 0; i < pathListPart.size(); i++) {
@@ -965,11 +966,11 @@
// 宸烽亾寮哄埗杞集锛屼紭鍏堢骇 > workDirection
if (null != nextLaneDir) {
- nextDirection = nextLaneDir;
+ final double oppNextLaneDir = (nextLaneDir + 180) % 360;
- if (!lastDirection.equals(nextDirection)) {
+ if (!lastDirection.equals(nextLaneDir)) {
if (!lastCode.getCornerBool()) {
- throw new CoolException(agvNo + "鍙峰皬杞﹁繘鍏ュ贩閬撻渶璋冩暣鏂瑰悜涓� " + nextDirection + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
+ throw new CoolException(agvNo + "鍙峰皬杞﹁繘鍏ュ贩閬撻渶璋冩暣鏂瑰悜涓� " + nextLaneDir + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
}
// turn
actionList.add(new Action(
@@ -979,24 +980,34 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextLaneDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
+ String.valueOf(nextLaneDir), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- lastDirection = nextDirection;
+ lastDirection = nextLaneDir;
}
- } else if (null != lastLaneDir) {
- nextDirection = lastLaneDir;
- if (!lastDirection.equals(nextDirection)) {
+ if (nextDirection.equals(oppNextLaneDir)) {
+ reverse = true;
+ }
+ nextDirection = nextLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
+ } else if (null != lastLaneDir) { // turn 鐜舰鐩磋涓嶅簲璇ュ瓨鍦ㄤ簬lane涓�
+ final double oppLastLaneDir = (lastLaneDir + 180) % 360;
+
+ if (!lastDirection.equals(lastLaneDir)) {
if (!lastCode.getCornerBool()) {
throw new CoolException(agvNo + "鍙峰皬杞︾寮�宸烽亾闇�璋冩暣鏂瑰悜涓� " + nextDirection + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
}
}
+
+ if (nextDirection.equals(oppLastLaneDir)) {
+ reverse = true;
+ }
+ nextDirection = lastLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
} else {
// 濡傛灉涓嬩竴涓柟鍚戞濂芥槸浣滀笟鏂瑰悜鐨勭浉鍙嶆柟鍚戯紝鍒欓噸缃笅涓�涓柟鍚戜负浣滀笟鏂瑰悜锛屾爣璁� reverse = true
@@ -1036,7 +1047,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1061,7 +1072,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1101,6 +1112,25 @@
// 鍒濆鏂瑰悜鍊艰ˉ涓�
if (first) {
if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
+ Double firstTurnDir = workDirection;
+
+ // 宸烽亾閫昏緫
+ if (!laneBuilder.isInitialized()) {
+ throw new CoolException("lanes are not initialized");
+ }
+ LaneDto lastLaneDto = laneBuilder.search(lastCode.getData());
+ // 杩涘叆宸烽亾瑙掑害
+ Double lastLaneDir = laneService.getLaneDirection(lastLaneDto);
+ if (lastLaneDir != null) {
+ firstTurnDir = lastLaneDir;
+ }
+
+ if (!lastDirection.equals(firstTurnDir)) {
+ if (!lastCode.getCornerBool()) {
+ throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ }
+ }
+
// turn
actionList.add(new Action(
null, // 缂栧彿
@@ -1109,16 +1139,16 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, firstTurnDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
+ String.valueOf(firstTurnDir), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- lastDirection = workDirection;
+ lastDirection = firstTurnDir;
}
first = false;
@@ -1148,7 +1178,7 @@
ActionTypeType.ReadyTakeFromShelvesLoc.desc, // 鍚嶇О
(double) agvDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(oriLoc.getOffset()), // 鍔ㄤ綔鍙傛暟
+ JSON.toJSONString(new HeightDepthDto(oriLoc.getOffset())), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -1211,7 +1241,7 @@
ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
(double) agvDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(destLoc.getOffset()), // 鍔ㄤ綔鍙傛暟
+ JSON.toJSONString(new HeightDepthDto(destLoc.getOffset())), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -1235,7 +1265,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, oriStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1256,7 +1286,7 @@
ActionTypeType.ReadyTakeFromConveyorSta.desc, // 鍚嶇О
staWorkDirection, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(oriSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ JSON.toJSONString(new HeightDepthDto(oriSta.getHeight(), Optional.ofNullable(oriSta.getDepth()).orElse((double) 0))), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyTakeFromConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -1299,7 +1329,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, destStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1339,7 +1369,7 @@
ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
staWorkDirection, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(destSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ JSON.toJSONString(new HeightDepthDto(destSta.getHeight(), Optional.ofNullable(destSta.getDepth()).orElse((double) 0))), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyReleaseToConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -1358,7 +1388,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, chargeDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1612,14 +1642,22 @@
agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class)
.setVal(action.getVal().intValue())
.setQrCode(action.getCode())
- .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ .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 -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ .bodySync((body) -> {
+ HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
+ body.setHeight(heightDepthDto.getHeight());
+ body.setDepth(heightDepthDto.getDepth());
+ })
);
break;
case ReadyTakeFromAgvSite:
@@ -1633,21 +1671,22 @@
agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
.setVal(action.getVal().intValue())
.setQrCode(action.getCode())
- .bodySync(body -> body.setHeight((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())))
+ .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 -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ .bodySync((body) -> {
+ HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
+ body.setHeight(heightDepthDto.getHeight());
+ body.setDepth(heightDepthDto.getDepth());
+ })
);
break;
case ReadyReleaseToAgvSite:
@@ -1655,6 +1694,13 @@
.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:
@@ -1807,7 +1853,7 @@
Code code = codeService.getCacheByData(agv_06_up.getQrCode());
// query current segment
- Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
+ Segment currSeg = segmentService.getCurrRunningSeg(null, agv.getId(), code.getId());
if (null == currSeg) {
log.error("failed to find curr segment [{}]", agv.getUuid());
} else {
@@ -1831,7 +1877,7 @@
// load from sta
sta = staService.getById(currTask.getOriSta());
// reserve to be waiting
- if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
+ if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.OUT)) {
break;
}
// convey plc valid
@@ -1840,13 +1886,14 @@
staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
break;
}
+ log.info("AGV [{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
success = true;
break;
case DEST_STA:
// place to sta
sta = staService.getById(currTask.getDestSta());
// reserve to be waiting
- if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN)) {
+ if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.IN)) {
break;
}
// convey plc valid
@@ -1855,10 +1902,11 @@
staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
break;
}
+ log.info("AGV [{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
success = true;
break;
default:
- log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
+ log.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
break;
}
}
@@ -1872,7 +1920,6 @@
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));
}
--
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