From 9e7d103dcc2d95f72109ab5f02d3e942e9b7bbf9 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期一, 29 十二月 2025 13:13:41 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 129 +++++++++++++++++++++++++++++++-----------
1 files changed, 95 insertions(+), 34 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 9e7f54a..841dc8b 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
@@ -2,19 +2,19 @@
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.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.protocol.AGV_11_UP;
-import com.zy.acs.common.domain.protocol.AGV_70_UP;
-import com.zy.acs.common.domain.protocol.IMessageBody;
+import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.AgvBackpackType;
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.AgvSpeedType;
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.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -49,6 +49,8 @@
@Slf4j
@Service("mainService")
public class MainService {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@Autowired
private BusService busService;
@@ -98,6 +100,8 @@
private ActionSorter actionSorter;
@Autowired
private StaReserveService staReserveService;
+ @Autowired
+ private ConveyorStationService conveyorStationService;
@SuppressWarnings("all")
@Transactional
@@ -177,29 +181,15 @@
throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " failed to update");
}
- // reserver station inbound, qty: 1
destSta = staService.getById(task.getDestSta());
if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to reserve");
}
-// if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
-// throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
-// }
-// destSta.setStaSts(StaStsType.READY_RELEASE.val());
-// destSta.setUpdateTime(now);
-// if (!staService.updateById(destSta)) {
-// throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to update");
-// }
break;
case STA_TO_LOC:
oriSta = staService.getById(task.getOriSta());
- if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
- }
- oriSta.setStaSts(StaStsType.READY_TAKE.val());
- oriSta.setUpdateTime(now);
- if (!staService.updateById(oriSta)) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to update");
+ if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to reserve");
}
destLoc = locService.getById(task.getDestLoc());
@@ -214,23 +204,13 @@
break;
case STA_TO_STA:
oriSta = staService.getById(task.getOriSta());
- if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
- }
- oriSta.setStaSts(StaStsType.READY_TAKE.val());
- oriSta.setUpdateTime(now);
- if (!staService.updateById(oriSta)) {
- throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to update");
+ if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
+ throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to reserve");
}
destSta = staService.getById(task.getDestSta());
- if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
- throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
- }
- destSta.setStaSts(StaStsType.READY_RELEASE.val());
- destSta.setUpdateTime(now);
- if (!staService.updateById(destSta)) {
- throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to update");
+ if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to reserve");
}
break;
default:
@@ -1483,6 +1463,86 @@
}
}
+ // 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));
+
+ boolean success = false;
+
+ try {
+ Code code = codeService.getCacheByData(agv_06_up.getQrCode());
+
+ // query current segment
+ Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), code.getId());
+ if (null == currSeg) {
+ log.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());
+ } else {
+
+ Sta sta;
+ TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType());
+ assert null != posType;
+ switch (posType) {
+ case ORI_LOC:
+ case DEST_LOC:
+ success = true;
+ break;
+ case ORI_STA:
+ // load from sta
+ sta = staService.getById(currTask.getOriSta());
+ // reserve to be waiting
+ if (!staReserveService.waitingStaReserve(sta, currTask, 1, StaReserveType.OUT)) {
+ break;
+ }
+ // convey plc valid
+ if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT)) {
+ // reserve rollback
+ staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
+ break;
+ }
+ 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)) {
+ break;
+ }
+ // convey plc valid
+ if (!conveyorStationService.allowAgvWork(sta, currTask, currSeg, StaReserveType.OUT)) {
+ // reserve rollback
+ staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
+ break;
+ }
+ success = true;
+ break;
+ default:
+ log.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);
+ }
+
+ 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);
+
+ redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
+ }
+
// 鏂欎粨淇℃伅鍖�
if (msgBody instanceof AGV_70_UP) {
AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;
@@ -1530,7 +1590,7 @@
}
if (taskComplete) {
- locService.taskCallBack(task);
+// locService.taskCallBack(task);
task.setTaskSts(TaskStsType.COMPLETE.val());
task.setEndTime(now);
@@ -1538,6 +1598,7 @@
if (!taskService.updateById(task)) {
log.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());
}
--
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