From 7ac5a3f2bcbb0d0e13dc87cd969c8fb1fd99b488 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期日, 04 一月 2026 10:38:42 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 23 +++++++++++++++--------
1 files changed, 15 insertions(+), 8 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 4eda19e..a10ea6c 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -96,7 +96,6 @@
Travel travel = travelService.getById(segment.getTravelId());
Agv agv = agvService.getById(travel.getAgvId());
- AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
long endNode = segment.getEndNode();
// valid ----------------------------------------------------
@@ -208,9 +207,9 @@
}
// checkout path
- Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
+ Code startCode = agvDetailService.getCurrentCode(travel.getAgvId());
Code endCode = codeService.getCacheById(endNode);
- long startTime = System.currentTimeMillis();
+// long startTime = System.currentTimeMillis();
List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
// System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
if (Cools.isEmpty(pathList)) {
@@ -248,7 +247,7 @@
insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
insertSeg.setState(SegmentStateType.WAITING.toString());
if (!segmentService.save(insertSeg)) {
- log.error("Segment [{}] failed to save 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
+ log.error("Segment [{}] failed to save 锛侊紒锛�", insertSeg.getTravelId() + " - " + insertSeg.getSerial());
}
segmentList.add(insertSeg);
@@ -265,8 +264,11 @@
interrupt = true;
} else {
if (nextStep.getEndNode() == endNode) {
-
- segmentList.add(nextStep);
+ // remove sta action seg
+ if (!nextStep.getPosType().equals(TaskPosDto.PosType.ORI_STA.toString())
+ && !nextStep.getPosType().equals(TaskPosDto.PosType.DEST_STA.toString())) {
+ segmentList.add(nextStep);
+ }
} else {
interrupt = true;
}
@@ -277,7 +279,7 @@
mapService.lockPath(null, pathList, agv.getUuid());
- startTime = System.currentTimeMillis();
+// startTime = System.currentTimeMillis();
mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
// System.out.println("generateAction: " + (System.currentTimeMillis() - startTime));
@@ -694,8 +696,13 @@
if (!blockVehicleDto.isAvoidable()) {
continue;
}
+ Long agvId = agvService.getAgvId(blockVehicleDto.getVehicle());
// 褰撳墠vehicle姝ｅ湪杩涜閬胯浣滀笟
- if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
+ if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(agvId, null))) {
+ continue;
+ }
+ // 褰撳墠vehicle姝ｅ湪杩涜婊氱瓛杈撻�佺嚎绛夊緟
+ if (segmentService.isRollerWaiting(agvId)) {
continue;
}
return blockVehicleDto.getVehicle();
--
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