From 1bdaf9be340892e1654caea9ed4082b6c61beb3b Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 09 三月 2026 15:54:02 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 23 ++++++++++++++++++-----
1 files changed, 18 insertions(+), 5 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 82c2626..d4acffc 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
@@ -20,10 +20,11 @@
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.LaneDto;
+import com.zy.acs.manager.core.domain.PathDto;
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.core.integrate.dto.OpenBusSubmitParam;
+import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -893,9 +894,10 @@
* 鏍规嵁鍒嗙墖鐢熸垚鍔ㄤ綔 ( 杞﹁締鍙兘宸茬粡鍋氳繃涓�浜涗换鍔′簡,姝ｅ湪绛夊緟涓嬩竴娈典换鍔� )
*/
@Transactional
- public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
+ public synchronized List<PathDto> generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
+ List<PathDto> pathTrace = new ArrayList<>();
try {
- if (Cools.isEmpty(agvId, segmentList)) { return; }
+ if (Cools.isEmpty(agvId, segmentList)) { return pathTrace; }
Date now = new Date();
long actionPrepareSts = ActionStsType.PREPARE.val();
// JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
@@ -924,6 +926,7 @@
if (!lastCode.getData().equals(pathList.get(0))) {
throw new CoolException("AGV[" + agvNo + "]瀹氫綅鍋忕Щ...");
}
+ pathTrace.add(new PathDto(lastCode.getData(), lastDirection, false));
boolean first = true;
for (Segment segment : segmentList) {
@@ -989,6 +992,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = nextLaneDir;
+ PathDto.markTurn(pathTrace, lastDirection);
}
if (nextDirection.equals(oppNextLaneDir)) {
@@ -1057,6 +1061,7 @@
));
lastDirection = nextDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
}
}
@@ -1082,6 +1087,7 @@
));
lastDirection = nextDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// run
@@ -1104,6 +1110,7 @@
));
lastCode = nextCode;
+ pathTrace.add(new PathDto(lastCode.getData(), lastDirection, false));
}
@@ -1149,6 +1156,7 @@
));
lastDirection = firstTurnDir;
+ PathDto.markTurn(pathTrace, lastDirection);
}
first = false;
@@ -1276,6 +1284,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = oriStaWorkDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
actuatorDirectionType = ActuatorDirectionType.fromVal(oriSta.getActDir());
@@ -1341,6 +1350,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = destStaWorkDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// 鑳岀瘬鍙栬揣
if (backupAction) {
@@ -1401,6 +1411,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = chargeDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// charge
@@ -1555,6 +1566,7 @@
}
log.info("{}鍙稟gv鍔ㄤ綔缁勮瀹屾垚锛屾寚浠ゆ暟閲忥細{}", agvNo, newActionList.size());
+ return pathTrace;
} catch (Exception e) {
log.error("mainService.generateAction", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -1610,8 +1622,9 @@
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
throw new BusinessException(task.getSeqNum() + "浠诲姟鏇存柊澶辫触");
- }
- }
+ }
+
+}
}
AgvAction agvAction = new AgvAction(agvNo, actionGroupId);
--
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