From 4ad3a6e5540c5ca9d6042fc2fb7d72fa18c49c15 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期三, 06 八月 2025 12:51:48 +0800
Subject: [PATCH] 保存一个版本
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 53 ++++++++++++++++++++++----
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java | 1
zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java | 2 +
zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/action/RunToWaitHeight.java | 33 ++++++++++++++++
4 files changed, 81 insertions(+), 8 deletions(-)
diff --git a/zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/action/RunToWaitHeight.java b/zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/action/RunToWaitHeight.java
new file mode 100644
index 0000000..9f31d64
--- /dev/null
+++ b/zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/action/RunToWaitHeight.java
@@ -0,0 +1,33 @@
+package com.zy.acs.common.domain.protocol.action;
+
+import com.zy.acs.common.domain.protocol.IActionBody;
+import com.zy.acs.common.utils.Utils;
+import com.zy.acs.framework.common.RadixTools;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 鍘诲緟鏈轰綅锛屽皢璐у弶鍗囪嚦鎸囧畾楂樺害
+ * 灞炴�у�硷細鏂瑰悜锛屽乏1 鍙�2
+ * Created by vincent on 2023/3/23
+ */
+@Data
+public class RunToWaitHeight implements IActionBody, Serializable {
+
+ private static final long serialVersionUID = 6496283344148393737L;
+
+ @Override
+ public byte[] writeToBytes() {
+ return Utils.reverse(RadixTools.shortToByte(this.height));
+ }
+
+ @Override
+ public void readFromBytes(byte[] messageBodyBytes) {
+
+ }
+
+ // 楂樺害
+ private Short height;
+
+}
diff --git a/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java b/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java
index 2240884..b94b116 100644
--- a/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java
+++ b/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java
@@ -29,6 +29,8 @@
READY_RELEASE_FROM_SHELVES_LOC(0x78, "鍑嗗寰�璐ф灦鏀捐揣", ReadyReleaseToShelvesLoc.class),
+ RUN_TO_WAIT_HEIGHT(0x79, "璐у弶杩愯鑷冲緟鏈洪珮搴�", RunToWaitHeight.class),
+
READY_TAKE_FROM_CONVEYOR_STA(0x7B, "鍑嗗浠庤緭閫佺嚎鍙栬揣", ReadyTakeFromConveyorSta.class),
READY_RELEASE_FROM_CONVEYOR_STA(0x7C, "鍑嗗寰�杈撻�佺嚎鏀捐揣", ReadyReleaseToConveyorSta.class),
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..0370dc5 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
@@ -989,7 +989,7 @@
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 +1025,7 @@
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 +1051,7 @@
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 +1070,7 @@
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 +1087,7 @@
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 +1108,7 @@
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 +1127,7 @@
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 +1147,7 @@
// 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 +1157,36 @@
// ));
// 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 (Cools.isEmpty(runToWaitHeight) || 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;
@@ -1341,6 +1371,13 @@
.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())
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java
index 6aa6718..e229b9b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java
@@ -21,6 +21,7 @@
ReadyReleaseToShelvesLoc("鍑嗗寰�璐ф灦鏀捐揣"), // 鍑嗗浠庤揣鏋舵斁璐�
ReadyReleaseToConveyorSta("鍑嗗寰�杈撻�佺嚎鏀捐揣"), // 鍑嗗寰�杈撻�佺嚎鏀捐揣
ReadyReleaseToAgvSite("鍑嗗寰�AGV鏆傚瓨璐т綅鏀捐揣"), // 鍑嗗寰�AGV鏆傚瓨璐т綅鏀捐揣
+ RunToWaitHeight("璐у弶杩愯鑷冲緟鏈洪珮搴�"), // 璐у弶杩愯鑷冲緟鏈洪珮搴�
FinishPath("鏁翠釜璺緞缁撴潫"), // 鏁翠釜璺緞缁撴潫
DockingCharge("瀵规帴鍏呯數妗�"), // 瀵规帴鍏呯數妗�
;
--
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