From 1809dba25f489ea01c07a9ecc977d9f408545310 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期一, 05 一月 2026 09:41:49 +0800
Subject: [PATCH] 电压改电量
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 76 ++++++++++++++++++++++++++++++-------
1 files changed, 61 insertions(+), 15 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 7a4edd4..18f8704 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
@@ -249,10 +249,12 @@
);
if (Cools.isEmpty(taskList)) {
- bus.setBusSts(BusStsType.PROGRESS.val());
- bus.setUpdateTime(now);
- if (!busService.updateById(bus)) {
- log.error("Bus [{}] failed to Update 锛侊紒锛�", bus.getUuid());
+ if (bus.getBusSts().equals(BusStsType.RECEIVE.val())) {
+ bus.setBusSts(BusStsType.PROGRESS.val());
+ bus.setUpdateTime(now);
+ if (!busService.updateById(bus)) {
+ log.error("Bus [{}] failed to Update 锛侊紒锛�", bus.getUuid());
+ }
}
return;
}
@@ -859,6 +861,7 @@
// 浣滀笟鐐瑰姩浣�
AgvDirectionType agvDirectionType;
+ Double staWorkDirection;
AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
case ORI_LOC:
@@ -974,18 +977,18 @@
lastDirection = oriStaWorkDirection;
}
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirectionByStation(oriSta, lastCode);
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
task.getId(), // 浠诲姟
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
- ActionTypeType.ReadyTakeFromShelvesLoc.desc, // 鍚嶇О
- (double) agvDirectionType.val, // 灞炴�у��
+ 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
- ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
+ ActionTypeType.ReadyTakeFromConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
@@ -1053,18 +1056,18 @@
now // 宸ヤ綔鏃堕棿
));
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirectionByStation(destSta, lastCode);
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
task.getId(), // 浠诲姟
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
- ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
- (double) agvDirectionType.val, // 灞炴�у��
+ 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
- ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
+ ActionTypeType.ReadyReleaseToConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
@@ -1111,7 +1114,24 @@
));
break;
case TO_STANDBY:
-// FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
+ // load lift
+// actionList.add(new Action(
+// null, // 缂栧彿
+// null, // 鎬荤嚎
+// task.getId(), // 浠诲姟
+// null, // 鍔ㄤ綔鍙�
+// null, // 浼樺厛绾�
+// ActionTypeType.LoadPlatformLift.desc, // 鍚嶇О
+// null, // 灞炴�у��
+// lastCode.getData(), // 鍦伴潰鐮�
+// String.valueOf(0), // 鍔ㄤ綔鍙傛暟
+// ActionTypeType.LoadPlatformLift.val(), // 鍔ㄤ綔绫诲瀷
+// actionPrepareSts, // 鍔ㄤ綔杩涘害
+// agvId, // AGV
+// now // 宸ヤ綔鏃堕棿
+// ));
+ // turn
+// FuncSta standByFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.STANDBY.toString());
// Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
// if (!lastDirection.equals(standByDirection)) {
// actionList.add(new Action(
@@ -1212,6 +1232,13 @@
if (Cools.isEmpty(actionList)) {
return;
}
+
+ Long agvId = actionList.get(0).getAgvId();
+ String agvNo = agvService.getAgvNo(agvId);
+ if (!agvService.judgeOnline(agvId)) {
+ return;
+ }
+
long actionIssuedSts = ActionStsType.ISSUED.val();
for (Action action : actionList) {
action.setActionSts(actionIssuedSts);
@@ -1238,10 +1265,8 @@
}
}
- String agvNo = agvService.getAgvNo(actionList.get(0).getAgvId());
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)
@@ -1275,6 +1300,13 @@
.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
);
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())))
+ );
+ break;
case ReadyTakeFromAgvSite:
agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
.setVal(action.getVal().intValue())
@@ -1289,6 +1321,20 @@
.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())))
+ );
+ 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())))
+ );
+ break;
case ReadyReleaseToAgvSite:
agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
.setVal(action.getVal().intValue())
--
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