From 70930071a49190f414c8d8bc9c9e9795a4096739 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期一, 23 三月 2026 16:08:27 +0800
Subject: [PATCH] Merge branch 'refs/heads/rcs_master' into jdxaj
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 357 ++++++++++++++++++++++++++++++++---------------------------
1 files changed, 192 insertions(+), 165 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 091f636..cde9b3d 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
@@ -4,16 +4,11 @@
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.*;
-import com.zy.acs.common.utils.GsonUtils;
-import com.zy.acs.common.utils.RedisSupport;
-import com.zy.acs.common.utils.Utils;
+import com.zy.acs.common.utils.*;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
@@ -22,10 +17,11 @@
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.LaneDto;
+import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
+import com.zy.acs.manager.core.integrate.dto.OpenBusSubmitParam;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
-import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -38,6 +34,7 @@
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
+import com.zy.acs.common.utils.News;
import java.util.*;
import java.util.stream.Collectors;
@@ -106,11 +103,12 @@
@Transactional
public Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) {
String errorMsg = busService.checkoutValid(busSubmitParam);
+ Boolean maintainLocSts = configService.getVal("maintainLocSts", Boolean.class);
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!");
}
@@ -125,7 +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);
@@ -149,35 +147,39 @@
Sta destSta = null;
switch (TaskTypeType.get(task.getTaskTypeEl())) {
case LOC_TO_LOC:
- oriLoc = locService.getById(task.getOriLoc());
- if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
- }
- oriLoc.setLocSts(LocStsType.PAKOUT.val());
- oriLoc.setUpdateTime(now);
- if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
- }
+ if (maintainLocSts) {
+ oriLoc = locService.getById(task.getOriLoc());
+ if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
+ }
+ oriLoc.setLocSts(LocStsType.PAKOUT.val());
+ oriLoc.setUpdateTime(now);
+ if (!locService.updateById(oriLoc)) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
+ }
- destLoc = locService.getById(task.getDestLoc());
- if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
- }
- destLoc.setLocSts(LocStsType.PAKIN.val());
- destLoc.setUpdateTime(now);
- if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
+ destLoc = locService.getById(task.getDestLoc());
+ if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
+ }
+ destLoc.setLocSts(LocStsType.PAKIN.val());
+ destLoc.setUpdateTime(now);
+ if (!locService.updateById(destLoc)) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
+ }
}
break;
case LOC_TO_STA:
- oriLoc = locService.getById(task.getOriLoc());
- if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
- }
- oriLoc.setLocSts(LocStsType.PAKOUT.val());
- oriLoc.setUpdateTime(now);
- if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
+ if (maintainLocSts) {
+ oriLoc = locService.getById(task.getOriLoc());
+ if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " is not in STOCK status");
+ }
+ oriLoc.setLocSts(LocStsType.PAKOUT.val());
+ oriLoc.setUpdateTime(now);
+ if (!locService.updateById(oriLoc)) {
+ throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
+ }
}
destSta = staService.getById(task.getDestSta());
@@ -191,14 +193,16 @@
throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to reserve");
}
- destLoc = locService.getById(task.getDestLoc());
- if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
- }
- destLoc.setLocSts(LocStsType.PAKIN.val());
- destLoc.setUpdateTime(now);
- if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
+ if (maintainLocSts) {
+ destLoc = locService.getById(task.getDestLoc());
+ if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " is not in IDLE status");
+ }
+ destLoc.setLocSts(LocStsType.PAKIN.val());
+ destLoc.setUpdateTime(now);
+ if (!locService.updateById(destLoc)) {
+ throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " failed to update");
+ }
}
break;
case STA_TO_STA:
@@ -238,7 +242,7 @@
bus.setBusSts(BusStsType.PROGRESS.val());
bus.setUpdateTime(now);
if (!busService.updateById(bus)) {
- log.error("Bus [{}] failed to Update 锛侊紒锛�", bus.getUuid());
+ News.error("Bus [{}] failed to Update 锛侊紒锛�", bus.getUuid());
}
}
return;
@@ -251,33 +255,28 @@
, (task, agvNo, sta) -> {
Long agvId = agvService.getAgvId(agvNo);
-// List<Travel> travelList = travelService.list(new LambdaQueryWrapper<Travel>()
-// .eq(Travel::getAgvId, agvId)
-// .eq(Travel::getState, TravelStateType.RUNNING.toString())
-// .orderByDesc(Travel::getCreateTime));
-// if (Cools.isEmpty(travelList)) {
-// throw new BusinessException("[Agv: " + agvNo + "]allocate inbound failed to find travel");
+ Travel travel = travelService.findRunningTravel(agvId);
+ if (null == travel) {
+ throw new CoolException("[Agv:" + agvNo + "] allocate inbound failed: no roller waiting travel");
+ }
+
+ // curr segment
+ Segment currSeg = segmentService.getCurrWaitingSeg(travel.getId(), agvId);
+// if (null == currSeg) {
+// currSeg = segmentService.getCurrRunningSeg(travel.getId(), agvId, null);
// }
-// Travel travel = travelList.get(0);
-//
-// List<Segment> currSegments = segmentService.list(new LambdaQueryWrapper<Segment>()
-// .eq(Segment::getAgvId, agvId)
-// .eq(Segment::getTravelId, travel.getId())
-// );
- // load segment
- Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
if (null == currSeg) {
- throw new BusinessException("[Agv:" + agvNo + "] allocate inbound failed: no roller waiting segment");
+ throw new CoolException("[Agv:" + agvNo + "] allocate inbound failed: no waiting segment");
}
// get backpack lev
int backpackLev = 0;
- int backpack = agvService.getBackpack(agvId);
+ int backpackCap = agvService.getBackpack(agvId);
List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
- if (usedBackpacks.size() >= backpack) {
+ if (usedBackpacks.size() >= backpackCap) {
throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
}
- for (int lev = 1; lev <= backpack; lev++) {
+ for (int lev = 1; lev <= backpackCap; lev++) {
if (!usedBackpacks.contains(lev)) {
backpackLev = lev;
break;
@@ -291,7 +290,7 @@
currSeg.setState(SegmentStateType.INIT.toString());
currSeg.setUpdateTime(now);
if (!segmentService.updateById(currSeg)) {
-// log.error("Segment [{}] failed to update 锛侊紒锛�", currSeg.getGroupId() + " - " + currSeg.getSerial());
+// News.error("Segment [{}] failed to update 锛侊紒锛�", currSeg.getGroupId() + " - " + currSeg.getSerial());
throw new CoolException("failed to update segment [" + currSeg.getGroupId() + "-" + currSeg.getSerial() + "] failed");
}
@@ -309,7 +308,7 @@
loadSeg.setCreateTime(now);
loadSeg.setUpdateTime(now);
if (!segmentService.save(loadSeg)) {
-// log.error("Segment [{}] failed to save 锛侊紒锛�", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
+// News.error("Segment [{}] failed to save 锛侊紒锛�", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
throw new CoolException("failed to save segment [" + loadSeg.getGroupId() + "-" + loadSeg.getSerial() + "] failed");
}
@@ -363,7 +362,6 @@
// DEST-only sort
destPosList.sort((a, b) -> {
-
// 涓昏酱
double aFirst = a.getFirstWeight(sameGroupXy);
double bFirst = b.getFirstWeight(sameGroupXy);
@@ -381,11 +379,10 @@
// get placeSeg serial
int placeSegSerial;
- // query placeSeg idx
int idx = -1;
for (int i = 0; i < destPosList.size(); i++) {
- if (Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())
- && Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())) {
+ if (Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())
+ && Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())) {
idx = i;
break;
}
@@ -435,7 +432,7 @@
placeSeg.setCreateTime(now);
placeSeg.setUpdateTime(now);
if (!segmentService.save(placeSeg)) {
-// log.error("Segment [{}] failed to save 锛侊紒锛�", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
+// News.error("Segment [{}] failed to save 锛侊紒锛�", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
}
@@ -465,7 +462,7 @@
staReserveService.allocateCallBack(task, agvId);
});
// if (Cools.isEmpty(agvNo)) {
-//// log.warn("Task[{}] has an issue锛� because it failed to check out agv which is idle...", task.getSeqNum());
+//// News.warn("Task[{}] has an issue锛� because it failed to check out agv which is idle...", task.getSeqNum());
// continue;
// }
// task.setAgvId(agvService.getAgvId(agvNo));
@@ -477,7 +474,7 @@
// }
}
} catch (Exception e) {
- log.error("mainService.infuseAgvForTask", e);
+ News.error("mainService.infuseAgvForTask", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
@@ -492,7 +489,7 @@
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))) {
@@ -512,9 +509,9 @@
return o2.getPriority() - o1.getPriority();
}
});
- Integer backpack = agvService.getBackpack(agvId);
- if (taskList.size() > backpack) {
- taskList = taskList.subList(0, backpack);
+ Integer backpackCap = agvService.getBackpack(agvId);
+ if (taskList.size() > backpackCap) {
+ taskList = taskList.subList(0, backpackCap);
}
AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
@@ -584,7 +581,7 @@
}
- if (backpackLev > backpack) {
+ if (backpackLev > backpackCap) {
throw new BusinessException("瑙ｆ瀽Task澶辫触,AGV鑳岀瘬宸叉弧......");
}
@@ -654,7 +651,7 @@
dropGroups.add(group);
} else {
// import tip: the list must only contain ORIGIN and DESTINATION
- log.error("the list must only contain ORIGIN and DESTINATION");
+ News.error("the list must only contain ORIGIN and DESTINATION");
}
}
@@ -730,7 +727,7 @@
} catch (Exception e) {
- log.error("mainService.buildMajorTask[task]", e);
+ News.error("mainService.buildMajorTask[task]", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
@@ -767,7 +764,7 @@
endCode = codeService.getCacheById(funcSta.getCode());
}
if (null == endCode) {
- log.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", agvNo, taskType.toString());
+ News.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", agvNo, taskType.toString());
}
break;
case MOVE:
@@ -788,7 +785,8 @@
task.setAgvId(agvId);
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(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
+ task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));
task.setOriCode(agvDetail.getCode());
task.setDestCode(endCode.getId());
// lane
@@ -799,6 +797,7 @@
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)) {
@@ -871,7 +870,7 @@
destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
destFuncSta.setUpdateTime(now);
if (!funcStaService.updateById(destFuncSta)) {
- log.error("FuncSta [{}] failed to update 锛侊紒锛�", destFuncSta.getName());
+ News.error("FuncSta [{}] failed to update 锛侊紒锛�", destFuncSta.getName());
}
break;
case MOVE:
@@ -882,7 +881,7 @@
return true;
} catch (Exception e) {
- log.error("mainService.buildMinorTask[task]", e);
+ News.error("mainService.buildMinorTask[task]", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
return false;
@@ -893,13 +892,16 @@
* 鏍规嵁鍒嗙墖鐢熸垚鍔ㄤ綔 ( 杞﹁締鍙兘宸茬粡鍋氳繃涓�浜涗换鍔′簡,姝ｅ湪绛夊緟涓嬩竴娈典换鍔� )
*/
@Transactional
- public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
+ public synchronized List<PathDto> generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
+ List<PathDto> pathTrace = new ArrayList<>();
try {
- if (Cools.isEmpty(agvId, segmentList)) { return; }
+ if (Cools.isEmpty(agvId, segmentList)) { return pathTrace; }
Date now = new Date();
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�...");
@@ -922,6 +924,7 @@
if (!lastCode.getData().equals(pathList.get(0))) {
throw new CoolException("AGV[" + agvNo + "]瀹氫綅鍋忕Щ...");
}
+ pathTrace.add(new PathDto(lastCode.getData(), lastDirection, false));
boolean first = true;
for (Segment segment : segmentList) {
@@ -936,7 +939,6 @@
if (!lastCode.getData().equals(code.getData())) {
// 璧拌璺緞鑺傜偣
-// List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code);
List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
for (int i = 0; i < pathListPart.size(); i++) {
@@ -979,7 +981,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextLaneDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextLaneDir), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -988,30 +990,26 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = nextLaneDir;
-
- if (nextDirection.equals(oppNextLaneDir)) {
- reverse = true;
- }
- } else {
- if (nextDirection.equals(oppNextLaneDir)) {
- nextDirection = nextLaneDir;
- reverse = true;
- }
+ PathDto.markTurn(pathTrace, lastDirection);
}
- nextDirection = nextLaneDir;
- } else if (null != lastLaneDir) {
- final double oppLastLaneDir = (lastLaneDir + 180) % 360;
- if (nextDirection.equals(oppLastLaneDir)) {
+ if (nextDirection.equals(oppNextLaneDir)) {
reverse = true;
}
- nextDirection = lastLaneDir;
+ nextDirection = nextLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
+ } else if (null != lastLaneDir) { // turn 鐜舰鐩磋涓嶅簲璇ュ瓨鍦ㄤ簬lane涓�
+ final double oppLastLaneDir = (lastLaneDir + 180) % 360;
- if (!lastDirection.equals(nextDirection)) {
+ if (!lastDirection.equals(lastLaneDir)) {
if (!lastCode.getCornerBool()) {
throw new CoolException(agvNo + "鍙峰皬杞︾寮�宸烽亾闇�璋冩暣鏂瑰悜涓� " + nextDirection + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
}
}
+
+ if (nextDirection.equals(oppLastLaneDir)) {
+ reverse = true;
+ }
+ nextDirection = lastLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
} else {
// 濡傛灉涓嬩竴涓柟鍚戞濂芥槸浣滀笟鏂瑰悜鐨勭浉鍙嶆柟鍚戯紝鍒欓噸缃笅涓�涓柟鍚戜负浣滀笟鏂瑰悜锛屾爣璁� reverse = true
@@ -1051,7 +1049,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1061,6 +1059,7 @@
));
lastDirection = nextDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
}
}
@@ -1076,7 +1075,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1086,6 +1085,7 @@
));
lastDirection = nextDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// run
@@ -1108,6 +1108,7 @@
));
lastCode = nextCode;
+ pathTrace.add(new PathDto(lastCode.getData(), lastDirection, false));
}
@@ -1143,7 +1144,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, firstTurnDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(firstTurnDir), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1153,13 +1154,14 @@
));
lastDirection = firstTurnDir;
+ PathDto.markTurn(pathTrace, lastDirection);
}
first = false;
}
// 浣滀笟鐐瑰姩浣�
- AgvDirectionType agvDirectionType;
+ ActuatorDirectionType actuatorDirectionType;
Double staWorkDirection;
AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
@@ -1172,7 +1174,8 @@
// 璐ф灦鍙栬揣
Loc oriLoc = locService.getById(task.getOriLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
+ actuatorDirectionType = ActuatorDirectionType.fromVal(oriLoc.getCompDirect());
+// actuatorDirectionType = mapService.calculateAgvWorkDirectionByShelf(oriLoc, lastCode);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -1180,9 +1183,9 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyTakeFromShelvesLoc.desc, // 鍚嶇О
- (double) agvDirectionType.val, // 灞炴�у��
+ (double) actuatorDirectionType.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
@@ -1235,17 +1238,18 @@
// 璐ф灦鏀捐揣
Loc destLoc = locService.getById(task.getDestLoc());
// 璁＄畻宸﹀彸鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
+ actuatorDirectionType = ActuatorDirectionType.fromVal(destLoc.getCompDirect());
+// actuatorDirectionType = mapService.calculateAgvWorkDirectionByShelf(destLoc, lastCode);
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�
+ null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
- (double) agvDirectionType.val, // 灞炴�у��
+ (double) actuatorDirectionType.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
@@ -1255,7 +1259,7 @@
case ORI_STA:
// 绔欑偣鍙栬揣
Sta oriSta = staService.getById(task.getOriSta());
- Double oriStaWorkDirection = mapService.getStaAngle(oriSta, workDirection);
+ Double oriStaWorkDirection = mapService.getStaAngle(oriSta);
// 妫�楠屾柟鍚�
if (!lastDirection.equals(oriStaWorkDirection)) {
if (!lastCode.getCornerBool()) {
@@ -1269,7 +1273,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, oriStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1278,9 +1282,11 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = oriStaWorkDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
- staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
+ actuatorDirectionType = ActuatorDirectionType.fromVal(oriSta.getActDir());
+// staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -1288,9 +1294,9 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyTakeFromConveyorSta.desc, // 鍚嶇О
- staWorkDirection, // 灞炴�у��
+ (double) actuatorDirectionType.val, // 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
@@ -1319,7 +1325,7 @@
case DEST_STA:
// 绔欑偣鏀捐揣
Sta destSta = staService.getById(task.getDestSta());
- Double destStaWorkDirection = mapService.getStaAngle(destSta, workDirection);
+ Double destStaWorkDirection = mapService.getStaAngle(destSta);
// 妫�楠屾柟鍚�
if (!lastDirection.equals(destStaWorkDirection)) {
if (!lastCode.getCornerBool()) {
@@ -1333,7 +1339,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, destStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1342,6 +1348,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = destStaWorkDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// 鑳岀瘬鍙栬揣
if (backupAction) {
@@ -1363,7 +1370,8 @@
));
}
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
- staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
+// staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
+ actuatorDirectionType = ActuatorDirectionType.fromVal(destSta.getActDir());
actionList.add(new Action(
null, // 缂栧彿
task.getBusId(), // 鎬荤嚎
@@ -1371,9 +1379,9 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
- staWorkDirection, // 灞炴�у��
+ (double) actuatorDirectionType.val, // 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
@@ -1392,7 +1400,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, chargeDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1401,6 +1409,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = chargeDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// charge
@@ -1554,9 +1563,10 @@
throw new BusinessException("group[" + groupId + "] 鍔ㄤ綔淇濆瓨澶辫触");
}
- log.info("{}鍙稟gv鍔ㄤ綔缁勮瀹屾垚锛屾寚浠ゆ暟閲忥細{}", agvNo, newActionList.size());
+ News.info("{}鍙稟gv鍔ㄤ綔缁勮瀹屾垚锛屾寚浠ゆ暟閲忥細{}", agvNo, newActionList.size());
+ return pathTrace;
} catch (Exception e) {
- log.error("mainService.generateAction", e);
+ News.error("mainService.generateAction", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
if (!Cools.isEmpty(pathList)) {
@@ -1646,14 +1656,22 @@
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:
@@ -1667,21 +1685,22 @@
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:
@@ -1689,6 +1708,13 @@
.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:
@@ -1714,13 +1740,13 @@
BaseResult<?> result = agvCmdService.executeAgvActionCmd(agvAction);
if (result.success()) {
- log.info("浠诲姟缁� [{}] 鍔ㄤ綔鎸囦护宸蹭笅鍙� ===>> 鎸囦护鏁伴噺锛歿}", actionGroupId, actionList.size());
+ News.info("浠诲姟缁� [{}] 鍔ㄤ綔鎸囦护宸蹭笅鍙� ===>> 鎸囦护鏁伴噺锛歿}", actionGroupId, actionList.size());
} else {
- log.error("浠诲姟缁� [{}] 鍔ㄤ綔鎸囦护涓嬪彂澶辫触 锛侊紒锛�", actionGroupId);
+ News.error("浠诲姟缁� [{}] 鍔ㄤ綔鎸囦护涓嬪彂澶辫触 锛侊紒锛�", actionGroupId);
throw new CoolException("浠诲姟缁� [{" + actionGroupId + "}] 鍔ㄤ綔鎸囦护涓嬪彂澶辫触 锛侊紒锛�");
}
} catch (Exception e) {
- log.error("mainService.publishAction", e);
+ News.error("mainService.publishAction", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
@@ -1732,7 +1758,7 @@
Agv agv = agvService.selectByUuid(protocol.getAgvNo());
if (null == agv) {
- log.warn("Agv [{}] 灏氭湭閴存潈 锛侊紒锛�", protocol.getAgvNo());
+ News.warn("Agv [{}] 灏氭湭閴存潈 锛侊紒锛�", protocol.getAgvNo());
return;
}
@@ -1744,7 +1770,7 @@
AGV_11_UP agv_11_up = (AGV_11_UP) msgBody;
String serialNo = agv_11_up.getSerialNo();
- log.info("Agv [{}] 鍔ㄤ綔瀹屾垚鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up));
+ News.info("Agv [{}] 鍔ㄤ綔瀹屾垚鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up));
// 鍏ュ簱鏀捐揣
if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) {
@@ -1752,7 +1778,7 @@
Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
if (null == loc) {
- log.warn("Agv [{}] 涓婃姤寰�璐ф灦鏀捐揣瀹屾垚鏃讹紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
+ News.warn("Agv [{}] 涓婃姤寰�璐ф灦鏀捐揣瀹屾垚鏃讹紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
} else {
List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
for (Long taskId : taskIds) {
@@ -1770,7 +1796,7 @@
action.setEndTime(now);
action.setUpdateTime(now);
if (!actionService.updateById(action)) {
- log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
+ News.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
}
}
@@ -1785,7 +1811,7 @@
Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
if (null == loc) {
- log.warn("Agv [{}] 涓婃姤浠庤揣鏋跺彇璐у畬鎴愶紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
+ News.warn("Agv [{}] 涓婃姤浠庤揣鏋跺彇璐у畬鎴愶紝搴撲綅鐮乕{}]鏃犳晥銆�", protocol.getAgvNo(), agv_11_up.getLocCode());
} else {
List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
@@ -1803,7 +1829,7 @@
action.setEndTime(now);
action.setUpdateTime(now);
if (!actionService.updateById(action)) {
- log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
+ News.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
}
}
}
@@ -1817,15 +1843,15 @@
// segment list
List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getGroupId, serialNo)
+ .eq(Segment::getGroupId, serialNo)
// .eq(Segment::getState, SegmentStateType.RUNNING.toString())
- .orderByAsc(Segment::getSerial)
+ .orderByAsc(Segment::getSerial)
);
// settlement
this.settleSegmentList(segmentList, serialNo);
- log.info("Agv [{}] {}浣滀笟瀹屾瘯 ==========>> ", protocol.getAgvNo(), serialNo);
+ News.info("Agv [{}] {} 璺緞浣滀笟宸插畬鎴�", protocol.getAgvNo(), serialNo);
}
}
@@ -1833,7 +1859,7 @@
// 鍙栨斁璐ц姹傚寘
if (msgBody instanceof AGV_06_UP) {
AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;
- log.info("Agv [{}] 鍙栨斁璐ц姹傚寘 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));
+ News.info("Agv [{}] 鍙栨斁璐ц姹傚寘 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));
boolean success = false;
@@ -1841,16 +1867,16 @@
Code code = codeService.getCacheByData(agv_06_up.getQrCode());
// query current segment
- Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
+ Segment currSeg = segmentService.getCurrRunningSeg(null, agv.getId(), code.getId());
if (null == currSeg) {
- log.error("failed to find curr segment [{}]", agv.getUuid());
+ News.error("failed to find curr segment [{}]", agv.getUuid());
} else {
// query current task
Task currTask = taskService.getById(currSeg.getTaskId());
if (currTask == null || !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {
- log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
+ News.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
} else {
Sta sta;
@@ -1865,7 +1891,7 @@
// 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
@@ -1874,13 +1900,14 @@
staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
break;
}
+ News.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
@@ -1889,24 +1916,24 @@
staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
break;
}
+ News.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());
+ News.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
break;
}
}
}
} catch (Exception e) {
- log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
+ News.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
}
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(success ? 1 : 0);
- agv_06_down.setResult(1);
+ agv_06_down.setResult(success ? 1 : 0);
redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
}
@@ -1914,7 +1941,7 @@
if (msgBody instanceof AGV_70_UP) {
AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;
- log.info("Agv [{}] 鏂欎粨淇℃伅鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
+ News.info("Agv [{}] 鏂欎粨淇℃伅鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
}
}
@@ -1961,10 +1988,10 @@
task.setEndTime(now);
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
- log.error("Task [{}] 鏇存柊澶辫触 锛侊紒锛�", task.getSeqNum());
+ News.error("Task [{}] 鏇存柊澶辫触 锛侊紒锛�", task.getSeqNum());
} else {
taskService.maintainLocAndSta(task);
- log.info("Task [{}] 浣滀笟瀹屾瘯 ==========>> ", task.getSeqNum());
+ News.info("Task [{}] 浠诲姟杩愯瀹屾垚.", task.getSeqNum());
}
}
@@ -1981,7 +2008,7 @@
action.setEndTime(now);
action.setUpdateTime(now);
if (!actionService.updateById(action)) {
- log.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
+ News.error("Action [{}] 鏇存柊澶辫触 锛侊紒锛�", action.getPriority() + " - " + action.getName());
}
}
}
@@ -1992,7 +2019,7 @@
segment.setEndTime(now);
segment.setUpdateTime(now);
if (!segmentService.updateById(segment)) {
- log.error("Segment [{}] 鏇存柊澶辫触 锛侊紒锛�", segment.getGroupId() + " - " + segment.getSerial());
+ News.error("Segment [{}] 鏇存柊澶辫触 锛侊紒锛�", segment.getGroupId() + " - " + segment.getSerial());
}
}
@@ -2000,4 +2027,4 @@
segmentService.processNext(segmentList);
}
-}
+}
\ No newline at end of file
--
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