From afbdf224dcc6f4c5d0f9331e25b99e0621cb6afd Mon Sep 17 00:00:00 2001
From: yy <yy123>
Date: 星期二, 30 十二月 2025 14:37:40 +0800
Subject: [PATCH] no message
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 159 ++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 116 insertions(+), 43 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 005824e..520d46f 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
@@ -18,6 +18,7 @@
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.domain.TaskDto;
@@ -28,6 +29,7 @@
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.HttpHandler;
+import com.zy.acs.manager.manager.controller.param.LocSiteParams;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
@@ -104,6 +106,8 @@
private TaskReportService taskReportService;
@Autowired
private AgvDurationService agvDurationService;
+ @Autowired
+ private LocStsService locStsService;
@SuppressWarnings("all")
@Transactional
@@ -138,7 +142,6 @@
}
Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, true);
Integer locStaTaskNum = configService.getVal("LOC_STA_TASK_NUM", Integer.class, 2);
-
// 淇濆瓨浠诲姟
for (Task task : taskList) {
@@ -761,16 +764,16 @@
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);
// 鑺傜偣鏉＄爜
Code code = codeService.getCacheById(segment.getEndNode());
// 闇�瑕佽蛋琛�
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);
@@ -788,11 +791,10 @@
// 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("00000051", "00000052", "00000053", "00000054");
- if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType())).equals(TaskPosDto.PosType.ORI_STA)
- || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.DEST_STA)) && list.contains(lastCode.getData())) {
+ List<String> list = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
+ if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
reverse = false;
+ lastDirection = nextDirection;
} else {
nextDirection = workDirection;
reverse = true;
@@ -817,12 +819,9 @@
nextDirection = lastDirection;
reverse = true;
} else {
- if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.ORI_STA) || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
+ if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
-
actionList.add(new Action(
null, // 缂栧彿s
task.getBusId(), // 鎬荤嚎
@@ -838,7 +837,18 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("1TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ 180);
} else {
+ List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
+ Double turnDirection = nextDirection;
+ if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
+ turnDirection = 180.0;
+ }
// turn
actionList.add(new Action(
null, // 缂栧彿s
@@ -849,23 +859,25 @@
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
+ String.valueOf(turnDirection), // 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
));
+ log.info("2TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ nextDirection);
}
-
lastDirection = nextDirection;
}
} else {
- if ((Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.ORI_STA) || Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))
- .equals(TaskPosDto.PosType.DEST_STA)) && lastCode.getData().equals("00000050")) {
+ if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
-
actionList.add(new Action(
null, // 缂栧彿s
task.getBusId(), // 鎬荤嚎
@@ -881,12 +893,18 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ 180);
}
}
}
// 绗竴涓姩浣滀竴瀹氭槸 turn
- if (actionList.isEmpty()) {
+ if (actionList.isEmpty() && lastCode.getCornerBool()) {
// turn
actionList.add(new Action(
null, // 缂栧彿
@@ -903,6 +921,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("4TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ nextDirection);
lastDirection = nextDirection;
}
@@ -932,31 +956,41 @@
lastCode = nextCode;
}
-
}
// 鍒濆鏂瑰悜鍊艰ˉ涓�
if (first) {
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
- ));
-
- lastDirection = workDirection;
-
+ 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"))) {
+ turnDirection = workDirection + 180.0;
+ }
+ if (lastCode.getCornerBool()) {
+ // 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(turnDirection), // 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
+ ));
+ log.info("5TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ null,
+ turnDirection);
+ lastDirection = workDirection;
+ }
}
first = false;
}
@@ -970,7 +1004,8 @@
assert backpackType != null;
// 妫�楠屾柟鍚�
if (!lastDirection.equals(workDirection)) {
- throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ lastDirection = workDirection;
+// throw new CoolException(agvNo agvNo+ "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
}
// 璐ф灦鍙栬揣
Loc oriLoc = locService.getById(task.getOriLoc());
@@ -1012,7 +1047,8 @@
assert backpackType != null;
// 妫�楠屾柟鍚�
if (!lastDirection.equals(workDirection)) {
- throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
+ lastDirection = workDirection;
+// throw new CoolException(agvNo + "鍙峰皬杞︽柟鍚戦敊璇紝璇锋帹鑷宠浆寮偣鎵嬪姩璋冩暣");
}
// 鏆傚瓨鐐瑰彇璐ц揣
actionList.add(new Action(
@@ -1202,7 +1238,7 @@
// 妫�楠屾柟鍚�
FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
- if (!lastDirection.equals(chargeDirection)&&lastCode.getCornerBool()) {
+ if (!lastDirection.equals(chargeDirection) && lastCode.getCornerBool()) {
actionList.add(new Action(
null, // 缂栧彿
null, // 鎬荤嚎
@@ -1437,7 +1473,7 @@
nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);
// 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
- if (!nextDirection.equals((workDirection+180) % 360)) {
+ if (!nextDirection.equals((workDirection + 180) % 360)) {
nextDirection = workDirection;
reverse = true;
}
@@ -2404,4 +2440,41 @@
}
return false;
}
+
+ /**
+ * @author Ryan
+ * @date 2025/11/10
+ * @description: 淇敼搴撲綅鐘舵��
+ * @version 1.0
+ */
+ @Transactional(rollbackFor = Exception.class)
+ public R modifyStatus(LocSiteParams params) {
+ if (Objects.isNull(params.getStatus())) {
+ return R.error("淇敼鐘舵�佷笉鑳戒负绌猴紒锛�");
+ }
+ LocSts locSts = locStsService.getOne(new LambdaQueryWrapper<LocSts>().eq(LocSts::getUuid, params.getStatus()));
+ if (Objects.isNull(locSts)) {
+ return R.error("鏁版嵁閿欒锛屾湭鎵惧埌瀵瑰簲宸ヤ綔鐘舵�侊紒锛�");
+ }
+ if (params.getType().equals("loc")) {
+ Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getLocNo, params.getCode()));
+ if (Objects.isNull(loc)) {
+ return R.error("搴撲綅淇℃伅涓嶅瓨鍦紒锛�");
+ }
+ loc.setLocSts(locSts.getId());
+ if (!locService.updateById(loc)) {
+ return R.ok("搴撲綅鐘舵�佷慨鏀瑰け璐ワ紒锛�");
+ }
+ } else {
+ Sta sta = staService.getOne(new LambdaQueryWrapper<Sta>().eq(Sta::getStaNo, params.getCode()));
+ if (Objects.isNull(sta)) {
+ return R.error("绔欑偣淇℃伅涓嶅瓨鍦紒锛�");
+ }
+ sta.setStatus(locSts.getStatus());
+ if (!staService.updateById(sta)) {
+ return R.error("绔欑偣鐘舵�佷慨鏀瑰け璐ワ紒锛�");
+ }
+ }
+ return R.ok();
+ }
}
--
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