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 | 223 +++++++++++++++++++++++++++++++++++++------------------
1 files changed, 148 insertions(+), 75 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 2092f91..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
@@ -277,6 +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);
@@ -989,7 +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
@@ -1025,7 +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
@@ -1051,7 +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
@@ -1070,7 +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
@@ -1087,7 +1088,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
- staWorkDirection, // 灞炴�у��
+ staWorkDirection, // 灞炴�ш皰
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(destSta.getOffset()), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyReleaseToConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
@@ -1108,7 +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
@@ -1127,7 +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
@@ -1147,7 +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
@@ -1157,6 +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;
@@ -1225,6 +1256,7 @@
throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);
}
}
+
@Transactional
public void publishAction(String actionGroupId) {
@@ -1341,6 +1373,13 @@
.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:
agvAction.add(new AgvActionItem<>(FinishPathAction.class)
.setQrCode(action.getCode())
@@ -1395,32 +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);
}
}
@@ -1428,31 +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);
}
}
@@ -1482,6 +1553,7 @@
log.info("Agv [{}] 鏂欎粨淇℃伅鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
}
}
+
@Transactional
public void settleSegmentList(List<Segment> segmentList, String serialNo) {
@@ -1531,25 +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());
- // TODO 鎻掑叆涓�鏉′笂鎶ヨ褰�
- TaskReport taskReport = new TaskReport();
- taskReport.setAgvId(task.getAgvId());
- taskReport.setBusNo(task.getBusId$());
- taskReport.setCreateTime(new Date());
- taskReport.setDestLoc(task.getDestLoc());
- taskReport.setDestSta(task.getDestSta());
- taskReport.setSeqNum(task.getSeqNum());
- taskReport.setTaskSts(task.getTaskSts());
- taskReport.setOriLoc(task.getOriLoc());
- taskReport.setOriSta(task.getOriSta());
- taskReport.setZpallet(task.getZpallet());
- if (!taskReportService.save(taskReport)) {
- log.info("TaskReport [{}] 鎻掑叆澶辫触 ==========>> ", JSON.toJSONString(taskReport));
- }
}
-
}
}
@@ -1582,4 +1636,23 @@
segmentService.processNext(segmentList);
}
+ /**
+ * 涓婃姤缁欎笂娓哥郴缁燂紝灏辨槸鎻掑叆涓�鏉℃暟鎹埌涓婃姤琛�
+ */
+ private void report(Task task, TaskReportStsType taskReportStsType) {
+ // TODO 鎻掑叆涓�鏉′笂鎶ヨ褰�
+ TaskReport taskReport = new TaskReport();
+ taskReport.setAgvId(task.getAgvId());
+ taskReport.setBusNo(task.getBusId$());
+ 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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