From 5c3f2ceeaead80ce4b12be933ddf759cf8bddefc Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 02 二月 2026 15:07:42 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java | 105 ++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 77 insertions(+), 28 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
index 9142b9c..56079cf 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
@@ -3,12 +3,13 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.Base62;
import com.zy.acs.common.utils.RedisSupport;
-import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.annotation.OperationLog;
+import com.zy.acs.manager.common.config.UplinkProperties;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.*;
@@ -64,7 +65,7 @@
@Autowired
private StaService staService;
@Autowired
- private TrafficService trafficService;
+ private UplinkProperties uplinkProperties;
@Autowired
private ThreadPoolRegulator threadPoolRegulator;
@Autowired
@@ -75,6 +76,8 @@
private PatrolService patrolService;
@Autowired
private StaReserveService staReserveService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
@PreAuthorize("hasAuthority('manager:agv:update')")
@OperationLog("Locate All Agv")
@@ -151,12 +154,30 @@
.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
})) > 0) {
- log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝宸茬粡瀛樺湪杩涜涓殑浠诲姟...");
+ log.info("{}鍙稟GV涓嶅彲鐢紝宸茬粡瀛樺湪杩涜涓殑浠诲姟...", agv.getUuid());
return R.error();
}
if (!agvService.judgeEnable(agv.getId())) {
- log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝浠诲姟鏃犳硶璁＄畻...");
+ log.info("{}鍙稟GV涓嶅彲鐢紝浠诲姟鏃犳硶璁＄畻...", agv.getUuid());
return R.error();
+ }
+
+ Task task = new Task();
+ task.setAgvId(agv.getId());
+ task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+// List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
+// task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
+ task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));
+
+ task.setTaskType(param.getTaskMode().val());
+ task.setTaskSts(TaskStsType.WAITING.val());
+ task.setUplinkSts(uplinkProperties.getEnabled() ? TaskUplinkStateType.PENDING.toString() : TaskUplinkStateType.SKIPPED.toString());
+ task.setPriority(999);
+ task.setIoTime(now);
+ task.setStartTime(now);
+ task.setMemo("AUTO");
+ if (!taskService.save(task)) {
+ throw new BusinessException(task.getSeqNum() + "浠诲姟淇濆瓨澶辫触");
}
// generate
@@ -164,7 +185,6 @@
Loc destLoc = null;
Sta oriSta = null;
Sta destSta = null;
- Task task = null;
switch (param.getTaskMode()) {
case MOVE:
Code endCode = null;
@@ -177,12 +197,23 @@
if (null == endCode) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), endCode.getId())) {
+ throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + endCode.getData());
+ }
+ if (!taskService.removeById(task.getId())) {
+ throw new BusinessException("failed to remove task");
+ }
+ task = null;
if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
return R.error();
}
break;
case TO_CHARGE:
case TO_STANDBY:
+ if (!taskService.removeById(task.getId())) {
+ throw new BusinessException("failed to remove task");
+ }
+ task = null;
if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
return R.error();
}
@@ -197,6 +228,10 @@
}
if (null == oriLoc) {
return R.error();
+ }
+ if (!agvAreaDispatcher.match(agv.getId(), oriLoc.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriLoc.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈捐捣濮嬪簱浣嶃��" + oriLoc.getLocNo() + "銆�");
}
if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
throw new BusinessException("oriLoc锛�" + oriLoc.getLocNo() + " 涓嶆槸鍦ㄥ簱鐘舵��");
@@ -217,6 +252,10 @@
if (null == destLoc) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), destLoc.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destLoc.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈剧洰鏍囧簱浣嶃��" + destLoc.getLocNo() + "銆�");
+ }
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
throw new BusinessException("destLoc锛�" + destLoc.getLocNo() + " 涓嶆槸绌洪棽鐘舵��");
}
@@ -227,8 +266,6 @@
}
// task
- task = new Task();
-
task.setOriLoc(oriLoc.getId());
task.setOriCode(oriLoc.getCode());
task.setDestLoc(destLoc.getId());
@@ -245,6 +282,10 @@
if (null == oriLoc) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), oriLoc.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriLoc.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈捐捣濮嬪簱浣嶃��" + oriLoc.getLocNo() + "銆�");
+ }
if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
throw new BusinessException("oriLoc锛�" + oriLoc.getLocNo() + " 涓嶆槸鍦ㄥ簱鐘舵��");
}
@@ -264,17 +305,20 @@
if (null == destSta) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), destSta.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destSta.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈剧洰鏍囩珯鐐广��" + destSta.getStaNo() + "銆�");
+ }
if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
throw new BusinessException("destSta锛�" + destSta.getStaNo() + " 棰勭害澶辫触");
}
-
// task
- task = new Task();
-
task.setOriLoc(oriLoc.getId());
task.setOriCode(oriLoc.getCode());
task.setDestSta(destSta.getId());
task.setDestCode(destSta.getCode());
+
+ staReserveService.allocateCallBack(task, agv.getId());
break;
case STA_TO_LOC:
// oriSta
@@ -286,6 +330,10 @@
}
if (null == oriSta) {
return R.error();
+ }
+ if (!agvAreaDispatcher.match(agv.getId(), oriSta.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriSta.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈捐捣濮嬬珯鐐广��" + oriSta.getStaNo() + "銆�");
}
if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
throw new BusinessException("oriSta锛�" + oriSta.getStaNo() + " 棰勭害澶辫触");
@@ -301,6 +349,10 @@
if (null == destLoc) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), destLoc.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destLoc.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈剧洰鏍囧簱浣嶃��" + destLoc.getLocNo() + "銆�");
+ }
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
throw new BusinessException("destLoc锛�" + destLoc.getLocNo() + " 涓嶆槸绌洪棽鐘舵��");
}
@@ -311,12 +363,12 @@
}
// task
- task = new Task();
-
task.setOriSta(oriSta.getId());
task.setOriCode(oriSta.getCode());
task.setDestLoc(destLoc.getId());
task.setDestCode(destLoc.getCode());
+
+ staReserveService.allocateCallBack(task, agv.getId());
break;
case STA_TO_STA:
// oriSta
@@ -329,9 +381,14 @@
if (null == oriSta) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), oriSta.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + oriSta.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈捐捣濮嬬珯鐐广��" + oriSta.getStaNo() + "銆�");
+ }
if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
throw new BusinessException("oriSta锛�" + oriSta.getStaNo() + " 棰勭害澶辫触");
}
+
// destSta
if (!Cools.isEmpty(param.getEndStaNo())) {
@@ -343,39 +400,31 @@
if (null == destSta) {
return R.error();
}
+ if (!agvAreaDispatcher.match(agv.getId(), destSta.getCode())) {
+// throw new BusinessException("AGV " + agv.getUuid() + " failed to reach target code " + destSta.getCode$());
+ throw new BusinessException("AGV銆�" + agv.getUuid() + "銆戞棤娉曞埌杈剧洰鏍囩珯鐐广��" + destSta.getStaNo() + "銆�");
+ }
if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
throw new BusinessException("destSta锛�" + destSta.getStaNo() + " 棰勭害澶辫触");
}
// task
- task = new Task();
-
task.setOriSta(oriSta.getId());
task.setOriCode(oriSta.getCode());
task.setDestSta(destSta.getId());
task.setDestCode(destSta.getCode());
+
+ staReserveService.allocateCallBack(task, agv.getId());
break;
default:
break;
}
if (null != task) {
- task.setAgvId(agv.getId());
- task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
- task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
-
- task.setTaskType(param.getTaskMode().val());
- task.setTaskSts(TaskStsType.WAITING.val());
-
- task.setPriority(999);
- task.setIoTime(now);
- task.setStartTime(now);
- if (!taskService.save(task)) {
- throw new BusinessException(task.getSeqNum() + "浠诲姟淇濆瓨澶辫触");
+ if (!taskService.updateById(task)) {
+ throw new BusinessException("浠诲姟鏇存柊澶辫触");
}
}
-
return R.ok();
}
--
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