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 +++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 45 insertions(+), 8 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..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())
--
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