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/service/MainService.java | 74 ++++++++++++++++++++++--------------
1 files changed, 45 insertions(+), 29 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 81af921..48267c9 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
@@ -4,10 +4,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.zy.acs.common.constant.RedisConstant;
-import com.zy.acs.common.domain.AgvAction;
-import com.zy.acs.common.domain.AgvActionItem;
-import com.zy.acs.common.domain.AgvProtocol;
-import com.zy.acs.common.domain.BaseResult;
+import com.zy.acs.common.domain.*;
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
@@ -26,7 +23,7 @@
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
-import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
+import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -110,8 +107,8 @@
if (!Cools.isEmpty(errorMsg)) {
throw new BusinessException(errorMsg);
}
- String batch = busSubmitParam.getBatch();
- List<TaskDto> taskDtoList = busSubmitParam.getTaskList();
+ String batchNo = busSubmitParam.getBatchNo();
+ List<TaskDto> taskDtoList = busSubmitParam.getTasks();
if (Cools.isEmpty(taskDtoList)) {
throw new BusinessException("taskList can't be empty!");
}
@@ -126,7 +123,7 @@
Date now = new Date();
Bus bus = new Bus();
bus.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- bus.setBusNo(batch);
+ bus.setBusNo(batchNo);
bus.setStartTime(now);
bus.setBusSts(BusStsType.RECEIVE.val());
bus.setMemo(memo);
@@ -486,7 +483,7 @@
try {
// valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId(), false)) {
+ if (!agvService.judgeEnable(agv.getId())) {
return;
}
if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -794,6 +791,7 @@
task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
task.setTaskSts(TaskStsType.ASSIGN.val());
task.setTaskType(taskType.val());
+ task.setUplinkSts(TaskUplinkStateType.SKIPPED.toString());
task.setIoTime(now);
task.setStartTime(now);
if (!taskService.save(task)) {
@@ -895,6 +893,8 @@
long actionPrepareSts = ActionStsType.PREPARE.val();
// JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
+// Double defaultShelfDepth = configService.getVal("defaultShelfDepth", Double.class);
+// defaultShelfDepth = Optional.ofNullable(defaultShelfDepth).orElse((double) 0);
String agvNo = agvService.getAgvNo(agvId);
// if (!agvService.judgeEnable(agvId)) {
// throw new CoolException("AGV[" + agvNo + "]褰撳墠涓嶅彲鐢�...");
@@ -1171,7 +1171,7 @@
ActionTypeType.ReadyTakeFromShelvesLoc.desc, // 鍚嶇О
(double) agvDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(oriLoc.getOffset()), // 鍔ㄤ綔鍙傛暟
+ JSON.toJSONString(new HeightDepthDto(oriLoc.getOffset())), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -1234,7 +1234,7 @@
ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
(double) agvDirectionType.val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(destLoc.getOffset()), // 鍔ㄤ綔鍙傛暟
+ JSON.toJSONString(new HeightDepthDto(destLoc.getOffset())), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -1279,7 +1279,7 @@
ActionTypeType.ReadyTakeFromConveyorSta.desc, // 鍚嶇О
staWorkDirection, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(oriSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ JSON.toJSONString(new HeightDepthDto(oriSta.getHeight(), Optional.ofNullable(oriSta.getDepth()).orElse((double) 0))), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyTakeFromConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -1362,7 +1362,7 @@
ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
staWorkDirection, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(destSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ JSON.toJSONString(new HeightDepthDto(destSta.getHeight(), Optional.ofNullable(destSta.getDepth()).orElse((double) 0))), // 鍔ㄤ綔鍙傛暟
ActionTypeType.ReadyReleaseToConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
@@ -1635,14 +1635,22 @@
agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class)
.setVal(action.getVal().intValue())
.setQrCode(action.getCode())
- .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ .bodySync((body) -> {
+ HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
+ body.setHeight(heightDepthDto.getHeight());
+ body.setDepth(heightDepthDto.getDepth());
+ })
);
break;
case ReadyTakeFromConveyorSta:
agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
.setVal(action.getVal().intValue())
.setQrCode(action.getCode())
- .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ .bodySync((body) -> {
+ HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
+ body.setHeight(heightDepthDto.getHeight());
+ body.setDepth(heightDepthDto.getDepth());
+ })
);
break;
case ReadyTakeFromAgvSite:
@@ -1656,21 +1664,22 @@
agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
.setVal(action.getVal().intValue())
.setQrCode(action.getCode())
- .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
- );
- break;
- case LoadPlatformLift:
- agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
- .setVal(action.getVal().intValue())
- .setQrCode(action.getCode())
- .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ .bodySync((body) -> {
+ HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
+ body.setHeight(heightDepthDto.getHeight());
+ body.setDepth(heightDepthDto.getDepth());
+ })
);
break;
case ReadyReleaseToConveyorSta:
agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
.setVal(action.getVal().intValue())
.setQrCode(action.getCode())
- .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ .bodySync((body) -> {
+ HeightDepthDto heightDepthDto = JSON.parseObject(action.getParams(), HeightDepthDto.class);
+ body.setHeight(heightDepthDto.getHeight());
+ body.setDepth(heightDepthDto.getDepth());
+ })
);
break;
case ReadyReleaseToAgvSite:
@@ -1678,6 +1687,13 @@
.setVal(action.getVal().intValue())
.setQrCode(action.getCode())
.bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
+ );
+ break;
+ case LoadPlatformLift:
+ agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
);
break;
case FinishPath:
@@ -1854,7 +1870,7 @@
// load from sta
sta = staService.getById(currTask.getOriSta());
// reserve to be waiting
- if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
+ if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.OUT)) {
break;
}
// convey plc valid
@@ -1863,14 +1879,14 @@
staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
break;
}
- log.info("AGV[{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
+ log.info("AGV [{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
success = true;
break;
case DEST_STA:
// place to sta
sta = staService.getById(currTask.getDestSta());
// reserve to be waiting
- if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.IN)) {
+ if (!staReserveService.waitingStaReserve(sta, currTask, currSeg, 1, StaReserveType.IN)) {
break;
}
// convey plc valid
@@ -1879,11 +1895,11 @@
staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
break;
}
- log.info("AGV[{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
+ log.info("AGV [{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
success = true;
break;
default:
- log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
+ log.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
break;
}
}
--
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