From 4937f052ec2c91b3fdcbb669aef7991912cde98e Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期三, 31 十二月 2025 10:48:28 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 81 ++++++++++++++++++++++++++++------------
1 files changed, 56 insertions(+), 25 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 2d2890e..13ef79e 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
@@ -246,19 +246,36 @@
}
List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
- for (Task task : taskList) {
- Agv agv = allocateService.execute(task);
- if (null == agv) {
-// log.warn("Task[{}] has an issue锛� because it failed to check out agv which is idle...", task.getSeqNum());
- continue;
- }
- task.setAgvId(agv.getId());
- task.setTaskSts(TaskStsType.WAITING.val());
- task.setIoTime(now);
- task.setUpdateTime(now);
- if (!taskService.updateById(task)) {
- throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
- }
+ for (Task t : taskList) {
+ String resultAgvNo = allocateService.execute(t
+ // inbound
+ , (task, agvNo) -> {
+
+ }
+ // normal
+ , (task, agvNo) -> {
+ if (Cools.isEmpty(agvNo)) {
+ return;
+ }
+ task.setAgvId(agvService.getAgvId(agvNo));
+ task.setTaskSts(TaskStsType.WAITING.val());
+ task.setIoTime(now);
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+ }
+ });
+// if (Cools.isEmpty(agvNo)) {
+//// log.warn("Task[{}] has an issue锛� because it failed to check out agv which is idle...", task.getSeqNum());
+// continue;
+// }
+// task.setAgvId(agvService.getAgvId(agvNo));
+// task.setTaskSts(TaskStsType.WAITING.val());
+// task.setIoTime(now);
+// task.setUpdateTime(now);
+// if (!taskService.updateById(task)) {
+// throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+// }
}
} catch (Exception e) {
log.error("mainService.infuseAgvForTask", e);
@@ -296,7 +313,7 @@
return o2.getPriority() - o1.getPriority();
}
});
- Integer backpack = agvService.getBackpack(agv);
+ Integer backpack = agvService.getBackpack(agvId);
if (taskList.size() > backpack) {
taskList = taskList.subList(0, backpack);
}
@@ -1495,26 +1512,42 @@
success = true;
break;
case ORI_STA:
+ // load from sta
sta = staService.getById(currTask.getOriSta());
- success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT);
-
- boolean permit = conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT);
-
- // load sta
- // remove expiredTime
+ // reserve to be waiting
+ if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
+ break;
+ }
+ // convey plc valid
+ if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT)) {
+ // reserve rollback
+ staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
+ break;
+ }
+ success = true;
break;
case DEST_STA:
- // place sta
+ // place to sta
sta = staService.getById(currTask.getDestSta());
- success = staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN);
+ // reserve to be waiting
+ if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN)) {
+ break;
+ }
+ // convey plc valid
+ if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.IN)) {
+ // reserve rollback
+ staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
+ break;
+ }
+ success = true;
break;
default:
log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
break;
}
}
-
}
+
} catch (Exception e) {
log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
}
@@ -1574,8 +1607,6 @@
}
if (taskComplete) {
-// locService.taskCallBack(task);
-
task.setTaskSts(TaskStsType.COMPLETE.val());
task.setEndTime(now);
task.setUpdateTime(now);
--
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