From af5e14557af94409a0d2e3f2dca1eed1b99a895a Mon Sep 17 00:00:00 2001
From: skyouc <creaycat@gmail.com>
Date: 星期一, 05 一月 2026 19:44:47 +0800
Subject: [PATCH] no message
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 529 ++++++++++++++++++++++++++++++----------------------------
1 files changed, 276 insertions(+), 253 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 520d46f..505da1b 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
@@ -34,6 +34,7 @@
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
+import com.zy.acs.manager.manager.service.impl.LocStsServiceImpl;
import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
import com.zy.acs.manager.manager.utils.ActionSorter;
import com.zy.acs.manager.system.service.ConfigService;
@@ -764,11 +765,18 @@
boolean first = true;
for (Segment segment : segmentList) {
+
// 鍒嗘鎵�灞炵殑Task
Task task = taskService.getById(segment.getTaskId());
TaskPosDto.PosType posType = Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()));
- boolean isStation = posType.equals(TaskPosDto.PosType.ORI_STA) || posType.equals(TaskPosDto.PosType.DEST_STA);
- boolean isLoc = posType.equals(TaskPosDto.PosType.ORI_LOC) || posType.equals(TaskPosDto.PosType.DEST_LOC);
+ // 鐩爣鏄惁涓虹珯鐐�
+ boolean isStation = posType == TaskPosDto.PosType.ORI_STA || posType == TaskPosDto.PosType.DEST_STA;
+ // 鐩爣鏄惁涓哄簱浣�
+ boolean isLoc = posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.DEST_LOC;
+ // 绔欑偣鍦扮爜
+ List<String> turnCodes = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054");
+ // 搴撲綅鍦扮爜
+ List<String> locTurnCodes = Arrays.asList("00000080", "00000081", "00000082", "00000083", "00000084");
// 鑺傜偣鏉＄爜
Code code = codeService.getCacheById(segment.getEndNode());
@@ -791,8 +799,8 @@
// 绗竴姝ワ細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
boolean reverse = false;
if (nextDirection.equals((workDirection + 180) % 360)) {
- List<String> list = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
- if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
+ if ((turnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
+ // if ((isStation && turnCodes.contains(lastCode.getData())) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
reverse = false;
lastDirection = nextDirection;
} else {
@@ -819,7 +827,8 @@
nextDirection = lastDirection;
reverse = true;
} else {
- if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
+ if ((turnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
+ // if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
actionList.add(new Action(
@@ -844,10 +853,10 @@
nextDirection,
180);
} else {
- List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
Double turnDirection = nextDirection;
- if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
+ if ((turnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
turnDirection = 180.0;
+ reverse = false;
}
// turn
actionList.add(new Action(
@@ -870,12 +879,14 @@
lastCode.getData(),
lastCode.getCornerBool(),
nextDirection,
- nextDirection);
+ lastDirection);
}
lastDirection = nextDirection;
}
} else {
- if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
+ // if (isStation && lastCode.getData().equals("00000050")) {
+ if ((turnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
+ // if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
actionList.add(new Action(
@@ -893,6 +904,7 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+
log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
posType,
lastCode.getData(),
@@ -962,8 +974,11 @@
if (first) {
if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
Double turnDirection = workDirection;
- List<String> list = Arrays.asList("00000050","00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
- if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
+ Code nextCode = codeService.getCacheByData(lastCode.getData());
+// Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
+ // if (isStation && turnCodes.contains(lastCode.getData())) {
+ if ((turnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) || (isLoc && locTurnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000080"))) {
+ // if ((isStation && turnCodes.contains(lastCode.getData())) || (isLoc && locTurnCodes.contains(lastCode.getData()))) {
turnDirection = workDirection + 180.0;
}
if (lastCode.getCornerBool()) {
@@ -1394,24 +1409,25 @@
}
}
-
/**
* 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 generateActionV2(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
+ public synchronized void generateActionV2(Long agvId, List<Segment> segmentList, List<String> pathList,
+ Date algoStartTime) {
try {
if (Cools.isEmpty(agvId, segmentList)) {
return;
}
Date now = new Date();
long actionPrepareSts = ActionStsType.PREPARE.val();
-// JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
+ // JSONObject storeDirection = configService.getVal("storeDirection",
+ // JSONObject.class);
int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
String agvNo = agvService.getAgvNo(agvId);
-// if (!agvService.judgeEnable(agvId)) {
-// throw new CoolException("AGV[" + agvNo + "]褰撳墠涓嶅彲鐢�...");
-// }
+ // if (!agvService.judgeEnable(agvId)) {
+ // throw new CoolException("AGV[" + agvNo + "]褰撳墠涓嶅彲鐢�...");
+ // }
AgvModel agvModel = agvModelService.getByAgvId(agvId);
Double workDirection = agvModel.getWorkDirection();
@@ -1519,24 +1535,23 @@
}
}
-
// 绗竴涓姩浣滀竴瀹氭槸 turn
if (actionList.isEmpty()) {
// turn
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�
- ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 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
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 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
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
));
lastDirection = nextDirection;
@@ -1549,19 +1564,19 @@
}
CodeGap gap = codeGapService.findByCodeOfBoth(lastCode.getId(), nextCode.getId());
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�
- actionType.desc, // 鍚嶇О
- (double) agvSpeedType.val, // 灞炴�у��
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(gap.getDistance()), // 鍔ㄤ綔鍙傛暟
- actionType.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ actionType.desc, // 鍚嶇О
+ (double) agvSpeedType.val, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(gap.getDistance()), // 鍔ㄤ綔鍙傛暟
+ actionType.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
));
lastCode = nextCode;
@@ -1572,22 +1587,23 @@
// 鍒濆鏂瑰悜鍊艰ˉ涓�
if (first) {
- if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
+ if (Cools.isEmpty(actionList)
+ || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
// turn
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�
- ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�у��
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(workDirection), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
));
lastDirection = workDirection;
@@ -1761,59 +1777,59 @@
}
// turn
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�
- ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�ш皰
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
));
lastDirection = destStaWorkDirection;
}
// 鏆傚瓨鐐瑰彇璐�
assert backpackType != null;
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�
- ActionTypeType.ReadyTakeFromAgvSite.desc, // 鍚嶇О
- (double) backpackType.lev, // 灞炴�ш皰
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.ReadyTakeFromAgvSite.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyTakeFromAgvSite.desc, // 鍚嶇О
+ (double) backpackType.lev, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(backpackType.height), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyTakeFromAgvSite.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
));
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
- staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection,
+ lastDirection);
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�
- ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
- staWorkDirection, // 灞炴�ш皰
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(destSta.getOffset()), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.ReadyReleaseToConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now, // 宸ヤ綔鏃堕棿
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
+ staWorkDirection, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(destSta.getOffset()), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.ReadyReleaseToConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now, // 宸ヤ綔鏃堕棿
destSta.getStaTypeIsCheck() == 1 ? 2 : 0,
- destSta.getStaNo()
- ));
+ destSta.getStaNo()));
break;
case TO_CHARGE:
// 妫�楠屾柟鍚�
@@ -1821,61 +1837,61 @@
Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
if (!lastDirection.equals(chargeDirection) && lastCode.getCornerBool()) {
actionList.add(new Action(
- null, // 缂栧彿
- null, // 鎬荤嚎
- task.getId(), // 浠诲姟
- null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
- ActionTypeType.TurnCorner.desc, // 鍚嶇О
- mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�ш皰
- lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
+ null, // 缂栧彿
+ null, // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
));
lastDirection = chargeDirection;
}
// charge
actionList.add(new Action(
- null, // 缂栧彿
- null, // 鎬荤嚎
- task.getId(), // 浠诲姟
- null, // 鍔ㄤ綔鍙�
- null, // 浼樺厛绾�
- ActionTypeType.DockingCharge.desc, // 鍚嶇О
- null, // 灞炴�ш皰
- lastCode.getData(), // 鍦伴潰鐮�
- null, // 鍔ㄤ綔鍙傛暟
- ActionTypeType.DockingCharge.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
+ null, // 缂栧彿
+ null, // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.DockingCharge.desc, // 鍚嶇О
+ null, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ null, // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.DockingCharge.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
));
break;
case TO_STANDBY:
-// FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
-// Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
-// if (!lastDirection.equals(standByDirection)) {
-// actionList.add(new Action(
-// null, // 缂栧彿
-// null, // 鎬荤嚎
-// task.getId(), // 浠诲姟
-// null, // 鍔ㄤ綔鍙�
-// null, // 浼樺厛绾�
-// ActionTypeType.TurnCorner.desc, // 鍚嶇О
-// null, // 灞炴�ш皰
-// lastCode.getData(), // 鍦伴潰鐮�
-// String.valueOf(standByDirection), // 鍔ㄤ綔鍙傛暟
-// ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
-// actionPrepareSts, // 鍔ㄤ綔杩涘害
-// agvId, // AGV
-// now // 宸ヤ綔鏃堕棿
-// ));
-// lastDirection = standByDirection;
-// }
+ // FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
+ // Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
+ // if (!lastDirection.equals(standByDirection)) {
+ // actionList.add(new Action(
+ // null, // 缂栧彿
+ // null, // 鎬荤嚎
+ // task.getId(), // 浠诲姟
+ // null, // 鍔ㄤ綔鍙�
+ // null, // 浼樺厛绾�
+ // ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ // null, // 灞炴�ш皰
+ // lastCode.getData(), // 鍦伴潰鐮�
+ // String.valueOf(standByDirection), // 鍔ㄤ綔鍙傛暟
+ // ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ // actionPrepareSts, // 鍔ㄤ綔杩涘害
+ // agvId, // AGV
+ // now // 宸ヤ綔鏃堕棿
+ // ));
+ // lastDirection = standByDirection;
+ // }
String runToWaitHeightFlag = configService.getVal("RunToWaitHeightFlag", String.class);
if (!Cools.isEmpty(runToWaitHeightFlag) && runToWaitHeightFlag.contains(agvId.toString())) {
String runToWaitHeight = configService.getVal("RunToWaitHeight", String.class);
@@ -1891,19 +1907,19 @@
throw new BusinessException("AGV瀹氫綅淇℃伅寮傚父锛屾棤娉曠敓鎴愬緟鏈哄姩浣�");
}
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�
- ActionTypeType.RunToWaitHeight.desc, // 鍚嶇О
- runToWaitHeightValue, // 灞炴�ш皰
- lastCode.getData(), // 鍦伴潰鐮�
- runToWaitHeight, // 鍔ㄤ綔鍙傛暟
- ActionTypeType.RunToWaitHeight.val(), // 鍔ㄤ綔绫诲瀷
- actionPrepareSts, // 鍔ㄤ綔杩涘害
- agvId, // AGV
- now // 宸ヤ綔鏃堕棿
+ null, // 缂栧彿
+ task.getBusId(), // 鎬荤嚎
+ task.getId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.RunToWaitHeight.desc, // 鍚嶇О
+ runToWaitHeightValue, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ runToWaitHeight, // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.RunToWaitHeight.val(), // 鍔ㄤ綔绫诲瀷
+ actionPrepareSts, // 鍔ㄤ綔杩涘害
+ agvId, // AGV
+ now // 宸ヤ綔鏃堕棿
));
}
break;
@@ -2161,98 +2177,108 @@
if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) {
WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
-// 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());
-// } else {
-// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
-// for (Long taskId : taskIds) {
-// Task task = taskService.getById(taskId);
-// if (task.getDestLoc().equals(loc.getId())) {
-//
-// Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
-// .eq(Action::getTaskId, task.getId())
-// .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
-// .eq(Action::getActionSts, ActionStsType.ISSUED.val())
-// );
-//
-// if (null != action) {
-// action.setActionSts(ActionStsType.FINISH.val());
-// 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());
-// }
-// }
-// //鎻掑叆涓�鏉�
-// report(task, TaskReportStsType.END);
-// }
-// }
-// }
+ // 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());
+ // } else {
+ // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ // for (Long taskId : taskIds) {
+ // Task task = taskService.getById(taskId);
+ // if (task.getDestLoc().equals(loc.getId())) {
+ //
+ // Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
+ // .eq(Action::getTaskId, task.getId())
+ // .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
+ // .eq(Action::getActionSts, ActionStsType.ISSUED.val())
+ // );
+ //
+ // if (null != action) {
+ // action.setActionSts(ActionStsType.FINISH.val());
+ // 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());
+ // }
+ // }
+ // //鎻掑叆涓�鏉�
+ // report(task, TaskReportStsType.END);
+ // }
+ // }
+ // }
-// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
-// for (Long taskId : taskIds) {
-// Task task = taskService.getById(taskId);
-// report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
-// }
+ // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ // for (Long taskId : taskIds) {
+ // Task task = taskService.getById(taskId);
+ // report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
+ // }
}
// 鍑哄簱鍙栬揣
if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_SHELVES_COMPLETE)) {
WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
-// 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());
-// } else {
-//
-// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
-// for (Long taskId : taskIds) {
-// Task task = taskService.getById(taskId);
-// if (task.getOriLoc().equals(loc.getId())) {
-//
-// Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
-// .eq(Action::getTaskId, task.getId())
-// .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
-// .eq(Action::getActionSts, ActionStsType.ISSUED.val())
-// );
-// if (null != action) {
-// action.setActionSts(ActionStsType.FINISH.val());
-// 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());
-// }
-// }
-// report(task, TaskReportStsType.OTBIN);
-// }
-// }
-// }
-// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
-// for (Long taskId : taskIds) {
-// Task task = taskService.getById(taskId);
-// report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
-// }
+ // 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());
+ // } else {
+ //
+ // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ // for (Long taskId : taskIds) {
+ // Task task = taskService.getById(taskId);
+ // if (task.getOriLoc().equals(loc.getId())) {
+ //
+ // Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
+ // .eq(Action::getTaskId, task.getId())
+ // .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
+ // .eq(Action::getActionSts, ActionStsType.ISSUED.val())
+ // );
+ // if (null != action) {
+ // action.setActionSts(ActionStsType.FINISH.val());
+ // 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());
+ // }
+ // }
+ // report(task, TaskReportStsType.OTBIN);
+ // }
+ // }
+ // }
+ // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ // for (Long taskId : taskIds) {
+ // Task task = taskService.getById(taskId);
+ // report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
+ // }
}
- //浠庤緭閫佺嚎鍙栬揣瀹屾垚
-// if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE)) {
-// WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
-// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
-// for (Long taskId : taskIds) {
-// Task task = taskService.getById(taskId);
-// report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
-// }
-// }
- //寰�杈撻�佺嚎鏀捐揣瀹屾垚
-// if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE)) {
-// WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
-// List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
-// for (Long taskId : taskIds) {
-// Task task = taskService.getById(taskId);
-// report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
-// }
-// }
+ // 浠庤緭閫佺嚎鍙栬揣瀹屾垚
+ // if
+ // (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE))
+ // {
+ // WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
+ // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ // for (Long taskId : taskIds) {
+ // Task task = taskService.getById(taskId);
+ // report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
+ // }
+ // }
+ // 寰�杈撻�佺嚎鏀捐揣瀹屾垚
+ // if
+ // (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE))
+ // {
+ // WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
+ // List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
+ // for (Long taskId : taskIds) {
+ // Task task = taskService.getById(taskId);
+ // report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
+ // }
+ // }
// 璺緞瀹屾垚 || 鍏呯數瀹屾垚
if (agv_11_up.getCompleteType().equals(AgvCompleteType.ENTIRE_PATH_COMPLETE)
@@ -2260,10 +2286,9 @@
// segment list
List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getGroupId, serialNo)
-// .eq(Segment::getState, SegmentStateType.RUNNING.toString())
- .orderByAsc(Segment::getSerial)
- );
+ .eq(Segment::getGroupId, serialNo)
+ // .eq(Segment::getState, SegmentStateType.RUNNING.toString())
+ .orderByAsc(Segment::getSerial));
// settlement
this.settleSegmentList(segmentList, serialNo);
@@ -2281,7 +2306,6 @@
}
}
-
@Transactional
public void settleSegmentList(List<Segment> segmentList, String serialNo) {
if (Cools.isEmpty(segmentList)) {
@@ -2293,7 +2317,6 @@
for (Segment segment : segmentList) {
boolean taskComplete = false;
boolean otbin = false;
-
Task task = taskService.getById(segment.getTaskId());
assert null != task;
@@ -2330,7 +2353,6 @@
report(task, null, TaskReportStsType.OTBIN);
}
-
if (taskComplete) {
locService.taskCallBackEnd(task);
@@ -2351,8 +2373,7 @@
if (!Cools.isEmpty(serialNo)) {
List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
.eq(Action::getGroupId, serialNo)
- .eq(Action::getActionSts, ActionStsType.ISSUED.val())
- );
+ .eq(Action::getActionSts, ActionStsType.ISSUED.val()));
for (Action action : actionList) {
action.setActionSts(ActionStsType.FINISH.val());
action.setEndTime(now);
@@ -2384,7 +2405,9 @@
if (task.getBusId() == null) {
return;
}
- List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>().eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$()).eq(TaskReport::getTaskSts, taskReportStsType.status));
+ List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>()
+ .eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$())
+ .eq(TaskReport::getTaskSts, taskReportStsType.status));
if (!Cools.isEmpty(list)) {
log.info("TaskReport [{},{}] 宸查噸澶嶏紝涓嶅啀鎻掑叆 ==========>> ", taskReportStsType, JSON.toJSONString(task));
return;
@@ -2417,7 +2440,7 @@
return false;
}
Integer time = configService.getVal("TIMEOUT", Integer.class, 5);
- //Integer times = configService.getVal("REPORT_TIMES", Integer.class, 2);
+ // Integer times = configService.getVal("REPORT_TIMES", Integer.class, 2);
Map<String, Object> data = new HashMap<>();
data.put("askType", askType);
data.put("askSta", askSta);
--
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