From 54c5131962c735b5e1d96a9be66fffe9c7eed468 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 29 十二月 2025 08:48:59 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java | 12 ++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 36 ++++++++++++++++++++++++++++++------
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java | 1 +
3 files changed, 43 insertions(+), 6 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java
index 2b43c73..9bccc07 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java
@@ -47,6 +47,18 @@
this.brief = brief;
}
+ public static PosType of(String posTypeStr) {
+ if (Cools.isEmpty(posTypeStr)) {
+ return null;
+ }
+ for (PosType type : PosType.values()) {
+ if (type.toString().equals(posTypeStr)) {
+ return type;
+ }
+ }
+ throw new IllegalArgumentException(posTypeStr);
+ }
+
}
public static void packagePosGroup(Map<String, List<TaskPosDto>> groups, Task task, Code code, PosType posType, String sameGroupXy) {
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 790ab43..7cb0de0 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
@@ -1469,16 +1469,40 @@
// query current segment
Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), agv_06_up.getQrCode());
+ if (null == currSeg) {
+ log.error("failed to find curr segment [{}]", agv.getUuid());
+ } else {
+ boolean responseAck = true;
+ TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
+ assert null != posType;
+ switch (posType) {
+ case ORI_LOC:
+ case DEST_LOC:
+ break;
+ case ORI_STA:
+ case DEST_STA:
+ // todo
+ break;
+ default:
+ responseAck = false;
+ log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
+ break;
+ }
- // todo:vincent 鏍￠獙鏄惁鍙互鍙栨斁璐�
+ if (responseAck) {
- AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
- agv_06_down.setSerialNo(agv_06_up.getSerialNo());
- agv_06_down.setActionCode(agv_06_up.getActionCode());
- agv_06_down.setResult(1);
+ // todo:vincent 鏍￠獙鏄惁鍙互鍙栨斁璐�
- redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
+ AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
+ agv_06_down.setSerialNo(agv_06_up.getSerialNo());
+ agv_06_down.setActionCode(agv_06_up.getActionCode());
+ agv_06_down.setResult(1);
+
+ redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
+ }
+
+ }
}
// 鏂欎粨淇℃伅鍖�
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
index c3eaf34..63a4681 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
@@ -156,6 +156,7 @@
.eq(Segment::getAgvId, agvId)
.eq(Segment::getState, SegmentStateType.RUNNING.toString())
.eq(Segment::getEndNode, codeId)
+ .orderByDesc(Segment::getId)
);
if (Cools.isEmpty(segments)) {
--
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