From 4593926f14da39a1a241b996d3d2453c28587207 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期六, 09 八月 2025 14:56:45 +0800
Subject: [PATCH] 保存一个版本
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 321 ++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 228 insertions(+), 93 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..afc92d9 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
@@ -96,6 +96,10 @@
private LaneService laneService;
@Autowired
private ActionSorter actionSorter;
+ @Autowired
+ private TaskReportService taskReportService;
+ @Autowired
+ private AgvDurationService agvDurationService;
@SuppressWarnings("all")
@Transactional
@@ -249,10 +253,12 @@
);
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;
}
@@ -271,6 +277,7 @@
if (!taskService.updateById(task)) {
throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
}
+ report(task, TaskReportStsType.START);
}
} catch (Exception e) {
log.error("mainService.infuseAgvForTask", e);
@@ -284,7 +291,9 @@
*/
@Transactional(propagation = Propagation.REQUIRES_NEW)
public void buildMajorTask(Long agvId, List<Task> taskList) {
- if (Cools.isEmpty(agvId, taskList)) { return; }
+ if (Cools.isEmpty(agvId, taskList)) {
+ return;
+ }
try {
// valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
@@ -324,16 +333,18 @@
* val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
*/
Map<String, List<TaskPosDto>> groups = new HashMap<>();
- final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
+ final String sameGroupXy = configService.getVal("sameGroupXy", String.class);
int backpackLev = 0;
for (Task task : taskList) {
- backpackLev ++;
+ backpackLev++;
Code startCode = null;
Code endCode = null;
- Loc oriLoc = null; Loc destLoc = null;
- Sta oriSta = null; Sta destSta = null;
+ Loc oriLoc = null;
+ Loc destLoc = null;
+ Sta oriSta = null;
+ Sta destSta = null;
switch (Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()))) {
case LOC_TO_LOC:
oriLoc = locService.getById(task.getOriLoc());
@@ -436,7 +447,7 @@
// re-order by agv current position
Code currCode = codeService.getCacheById(agvDetail.getRecentCode());
- Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
+ Double[] currPosition = new Double[]{currCode.getX(), currCode.getY()};
List<List<TaskPosDto>> pickGroups = new ArrayList<>();
List<List<TaskPosDto>> dropGroups = new ArrayList<>();
@@ -482,7 +493,7 @@
List<Segment> segmentList = new ArrayList<>();
for (List<TaskPosDto> dtoList : list) {
for (TaskPosDto taskPosDto : dtoList) {
- segSerial ++;
+ segSerial++;
AgvBackpackType backpackType = AgvBackpackDto.find(backpackDtoList, taskPosDto.getTaskId());
assert null != backpackType;
@@ -530,9 +541,12 @@
/**
* 鍏呯數 鍥炲緟鏈轰綅浠诲姟
*/
- @Transactional(propagation = Propagation.REQUIRES_NEW) // although there is a Transactional here that the lock is isolated, but we can't join the caller's Transactional
+ @Transactional(propagation = Propagation.REQUIRES_NEW)
+ // although there is a Transactional here that the lock is isolated, but we can't join the caller's Transactional
public boolean buildMinorTask(Long agvId, TaskTypeType taskType, String destination, Jam jam) {
- if (Cools.isEmpty(agvId, taskType)) { return false; }
+ if (Cools.isEmpty(agvId, taskType)) {
+ return false;
+ }
try {
String agvNo = agvService.getAgvNo(agvId);
if (!agvService.judgeEnable(agvId)) {
@@ -579,7 +593,7 @@
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.setOriCode(agvDetail.getCode());
task.setDestCode(endCode.getId());
// lane
@@ -587,7 +601,7 @@
if (null != destLane) {
task.setDestLaneHash(destLane.getHashCode());
}
- task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
+ task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE) ? 2 : 1);
task.setTaskSts(TaskStsType.ASSIGN.val());
task.setTaskType(taskType.val());
task.setIoTime(now);
@@ -595,6 +609,7 @@
if (!taskService.save(task)) {
throw new BusinessException(task.getSeqNum() + " failed to save");
}
+
// generate travel
Travel travel = new Travel();
@@ -609,13 +624,20 @@
}
// generate segment
- int segSerial = 0; segSerial ++;
+ int segSerial = 0;
+ segSerial++;
List<Segment> segmentList = new ArrayList<>();
String posType = "";
- switch (taskType){
+ switch (taskType) {
case TO_CHARGE:
posType = TaskPosDto.PosType.TO_CHARGE.toString();
+ //鎻掑叆鍏呯數浠诲姟
+ AgvDuration agvDuration = new AgvDuration();
+ agvDuration.setHappenTime(now);
+ agvDuration.setAgvId(agvId);
+ agvDuration.setTaskNo(task.getId());
+ agvDurationService.save(agvDuration);
break;
case TO_STANDBY:
posType = TaskPosDto.PosType.TO_STANDBY.toString();
@@ -685,7 +707,9 @@
@Transactional
public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
try {
- if (Cools.isEmpty(agvId, segmentList)) { return; }
+ if (Cools.isEmpty(agvId, segmentList)) {
+ return;
+ }
Date now = new Date();
long actionPrepareSts = ActionStsType.PREPARE.val();
// JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
@@ -727,7 +751,9 @@
List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
for (int i = 0; i < pathListPart.size(); i++) {
- if (i == 0) { continue; }
+ if (i == 0) {
+ continue;
+ }
String next = pathListPart.get(i);
@@ -859,6 +885,7 @@
// 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:
@@ -935,7 +962,7 @@
task.getBusId(), // 鎬荤嚎
task.getId(), // 浠诲姟
null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
+ null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
(double) agvDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
@@ -963,7 +990,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�ш皰
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -974,18 +1001,18 @@
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
@@ -999,7 +1026,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToAgvSite.desc, // 鍚嶇О
- (double) backpackType.lev, // 灞炴�у��
+ (double) backpackType.lev, // 灞炴�ш皰
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyReleaseToAgvSite.val(), // 鍔ㄤ綔绫诲瀷
@@ -1025,7 +1052,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�ш皰
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1044,7 +1071,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyTakeFromAgvSite.desc, // 鍚嶇О
- (double) backpackType.lev, // 灞炴�у��
+ (double) backpackType.lev, // 灞炴�ш皰
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyTakeFromAgvSite.val(), // 鍔ㄤ綔绫诲瀷
@@ -1053,18 +1080,18 @@
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�ш皰
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
@@ -1082,7 +1109,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�ш皰
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1101,7 +1128,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.DockingCharge.desc, // 鍚嶇О
- null, // 灞炴�у��
+ null, // 灞炴�ш皰
lastCode.getData(), // 鍦伴潰鐮�
null, // 鍔ㄤ綔鍙傛暟
ActionTypeType.DockingCharge.val(), // 鍔ㄤ綔绫诲瀷
@@ -1121,7 +1148,7 @@
// null, // 鍔ㄤ綔鍙�
// null, // 浼樺厛绾�
// ActionTypeType.TurnCorner.desc, // 鍚嶇О
-// null, // 灞炴�у��
+// null, // 灞炴�ш皰
// lastCode.getData(), // 鍦伴潰鐮�
// String.valueOf(standByDirection), // 鍔ㄤ綔鍙傛暟
// ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1131,6 +1158,36 @@
// ));
// lastDirection = standByDirection;
// }
+ String runToWaitHeightFlag = configService.getVal("RunToWaitHeightFlag", String.class);
+ if (!Cools.isEmpty(runToWaitHeightFlag) && runToWaitHeightFlag.contains(agvId.toString())) {
+ String runToWaitHeight = configService.getVal("RunToWaitHeight", String.class);
+ if (Cools.isEmpty(runToWaitHeight)) {
+ runToWaitHeight = "800";
+ }
+ Double runToWaitHeightValue = configService.getVal("RunToWaitHeightValue", Double.class);
+ if (runToWaitHeightValue == 0) {
+ runToWaitHeightValue = 1D;
+ }
+ // 淇绌烘寚閽堝紓甯革細妫�鏌astCode鏄惁涓簄ull
+ if (lastCode == null) {
+ throw new BusinessException("AGV瀹氫綅淇℃伅寮傚父锛屾棤娉曠敓鎴愬緟鏈哄姩浣�");
+ }
+ 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.RunToWaitHeight.desc, // 鍚嶇О
+ runToWaitHeightValue, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ runToWaitHeight, // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.RunToWaitHeight.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
+ ));
+ }
break;
case MOVE:
break;
@@ -1200,6 +1257,7 @@
}
}
+
@Transactional
public void publishAction(String actionGroupId) {
try {
@@ -1212,6 +1270,13 @@
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 +1303,8 @@
}
}
- 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 +1338,13 @@
.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())
@@ -1289,11 +1359,25 @@
.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())
.setQrCode(action.getCode())
.bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case RunToWaitHeight:
+ agvAction.add(new AgvActionItem<>(RunToWaitHeight.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
);
break;
case FinishPath:
@@ -1350,32 +1434,39 @@
if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) {
WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
- Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
- if (null == loc) {
- log.warn("Agv [{}] 涓婃姤寰�璐ф灦鏀捐揣瀹屾垚鏃讹紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
- } else {
- List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
- for (Long taskId : taskIds) {
- Task task = taskService.getById(taskId);
- if (task.getDestLoc().equals(loc.getId())) {
+// Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
+// if (null == loc) {
+// log.warn("Agv [{}] 涓婃姤寰�璐ф灦鏀捐揣瀹屾垚鏃讹紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
+// } else {
+// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+// for (Long taskId : taskIds) {
+// Task task = taskService.getById(taskId);
+// if (task.getDestLoc().equals(loc.getId())) {
+//
+// Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
+// .eq(Action::getTaskId, task.getId())
+// .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
+// .eq(Action::getActionSts, ActionStsType.ISSUED.val())
+// );
+//
+// if (null != action) {
+// action.setActionSts(ActionStsType.FINISH.val());
+// action.setEndTime(now);
+// action.setUpdateTime(now);
+// if (!actionService.updateById(action)) {
+// log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
+// }
+// }
+// //鎻掑叆涓�鏉�
+// report(task, TaskReportStsType.END);
+// }
+// }
+// }
- Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
- .eq(Action::getTaskId, task.getId())
- .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
- .eq(Action::getActionSts, ActionStsType.ISSUED.val())
- );
-
- if (null != action) {
- action.setActionSts(ActionStsType.FINISH.val());
- action.setEndTime(now);
- action.setUpdateTime(now);
- if (!actionService.updateById(action)) {
- log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
- }
- }
-
- }
- }
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ report(task, TaskReportStsType.END);
}
}
@@ -1383,31 +1474,56 @@
if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_SHELVES_COMPLETE)) {
WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
- Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
- if (null == loc) {
- log.warn("Agv [{}] 涓婃姤浠庤揣鏋跺彇璐у畬鎴愶紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
- } else {
+// Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
+// if (null == loc) {
+// log.warn("Agv [{}] 涓婃姤浠庤揣鏋跺彇璐у畬鎴愶紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
+// } else {
+//
+// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+// for (Long taskId : taskIds) {
+// Task task = taskService.getById(taskId);
+// if (task.getOriLoc().equals(loc.getId())) {
+//
+// Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
+// .eq(Action::getTaskId, task.getId())
+// .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
+// .eq(Action::getActionSts, ActionStsType.ISSUED.val())
+// );
+// if (null != action) {
+// action.setActionSts(ActionStsType.FINISH.val());
+// action.setEndTime(now);
+// action.setUpdateTime(now);
+// if (!actionService.updateById(action)) {
+// log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
+// }
+// }
+// report(task, TaskReportStsType.OTBIN);
+// }
+// }
+// }
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ report(task, TaskReportStsType.OTBIN);
+ }
- List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
- for (Long taskId : taskIds) {
- Task task = taskService.getById(taskId);
- if (task.getOriLoc().equals(loc.getId())) {
-
- Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
- .eq(Action::getTaskId, task.getId())
- .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
- .eq(Action::getActionSts, ActionStsType.ISSUED.val())
- );
- if (null != action) {
- action.setActionSts(ActionStsType.FINISH.val());
- action.setEndTime(now);
- action.setUpdateTime(now);
- if (!actionService.updateById(action)) {
- log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
- }
- }
- }
- }
+ }
+ //浠庤緭閫佺嚎鍙栬揣瀹屾垚
+ if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE)) {
+ WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ report(task, TaskReportStsType.OTBIN);
+ }
+ }
+ //寰�杈撻�佺嚎鏀捐揣瀹屾垚
+ if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE)) {
+ WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
+ List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ for (Long taskId : taskIds) {
+ Task task = taskService.getById(taskId);
+ report(task, TaskReportStsType.END);
}
}
@@ -1417,9 +1533,9 @@
// segment list
List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getGroupId, serialNo)
+ .eq(Segment::getGroupId, serialNo)
// .eq(Segment::getState, SegmentStateType.RUNNING.toString())
- .orderByAsc(Segment::getSerial)
+ .orderByAsc(Segment::getSerial)
);
// settlement
@@ -1438,6 +1554,7 @@
}
}
+
@Transactional
public void settleSegmentList(List<Segment> segmentList, String serialNo) {
if (Cools.isEmpty(segmentList)) {
@@ -1449,8 +1566,10 @@
for (Segment segment : segmentList) {
boolean taskComplete = false;
- Task task = taskService.getById(segment.getTaskId()); assert null != task;
- TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl()); assert null != typeType;
+ Task task = taskService.getById(segment.getTaskId());
+ assert null != task;
+ TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl());
+ assert null != typeType;
TaskPosDto.PosType posType = TaskPosDto.queryPosType(segment.getPosType());
switch (Objects.requireNonNull(posType)) {
@@ -1484,10 +1603,7 @@
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
log.error("Task [{}] 鏇存柊澶辫触 锛侊紒锛�", task.getSeqNum());
- } else {
- log.info("Task [{}] 浣滀笟瀹屾瘯 ==========>> ", task.getSeqNum());
}
-
}
}
@@ -1520,4 +1636,23 @@
segmentService.processNext(segmentList);
}
+ /**
+ * 涓婃姤缁欎笂娓哥郴缁燂紝灏辨槸鎻掑叆涓�鏉℃暟鎹埌涓婃姤琛�
+ */
+ private void report(Task task, TaskReportStsType taskReportStsType) {
+ // TODO 鎻掑叆涓�鏉′笂鎶ヨ褰�
+ TaskReport taskReport = new TaskReport();
+ taskReport.setAgvId(task.getAgvId());
+ taskReport.setBusNo(task.getBusId$());
+ taskReport.setCreateTime(new Date());
+ taskReport.setReportTimes(0);
+ taskReport.setTaskSts(taskReportStsType.status);
+ taskReport.setSeqNum(task.getSeqNum());
+ taskReport.setZpallet(task.getZpallet());
+ if (!taskReportService.save(taskReport)) {
+ log.info("TaskReport [{}] 鎻掑叆澶辫触 ==========>> ", JSON.toJSONString(taskReport));
+ } else {
+ log.info("Task [{}] 鐘舵�佽褰曟彃鍏ユ暟鎹簱 ==========>> ", task.getSeqNum());
+ }
+ }
}
--
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