From 9d18c1d0644555973de883f0fc888e6ab601fbaa Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 19 三月 2026 12:46:25 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 25 +++++++++++++++++--------
1 files changed, 17 insertions(+), 8 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 d58843f..2b89679 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
@@ -8,10 +8,7 @@
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.Base62;
-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;
@@ -895,8 +892,9 @@
*/
@Transactional
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);
@@ -925,6 +923,7 @@
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) {
@@ -990,6 +989,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = nextLaneDir;
+ PathDto.markTurn(pathTrace, lastDirection);
}
if (nextDirection.equals(oppNextLaneDir)) {
@@ -1058,6 +1058,7 @@
));
lastDirection = nextDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
}
}
@@ -1083,6 +1084,7 @@
));
lastDirection = nextDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// run
@@ -1105,6 +1107,7 @@
));
lastCode = nextCode;
+ pathTrace.add(new PathDto(lastCode.getData(), lastDirection, false));
}
@@ -1150,6 +1153,7 @@
));
lastDirection = firstTurnDir;
+ PathDto.markTurn(pathTrace, lastDirection);
}
first = false;
@@ -1277,6 +1281,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = oriStaWorkDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
actuatorDirectionType = ActuatorDirectionType.fromVal(oriSta.getActDir());
@@ -1342,6 +1347,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = destStaWorkDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// 鑳岀瘬鍙栬揣
if (backupAction) {
@@ -1402,6 +1408,7 @@
now // 宸ヤ綔鏃堕棿
));
lastDirection = chargeDirection;
+ PathDto.markTurn(pathTrace, lastDirection);
}
// charge
@@ -1555,7 +1562,8 @@
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);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -1611,8 +1619,9 @@
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
throw new BusinessException(task.getSeqNum() + "浠诲姟鏇存柊澶辫触");
- }
- }
+ }
+
+}
}
AgvAction agvAction = new AgvAction(agvNo, actionGroupId);
--
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