From bf69ac8c77ba9598b86b72f7b674d96de8af780b Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 10 一月 2025 16:53:28 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java         |   33 ++++++++--------
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java      |   10 ++--
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java |    4 +-
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java           |    4 +-
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java   |    2 
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java |    4 +-
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java       |   11 ++---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java     |    4 +-
 8 files changed, 36 insertions(+), 36 deletions(-)

diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
index ae5aab2..ca9ccbe 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
@@ -112,13 +112,13 @@
                 if (null == endCode) {
                     return R.error();
                 }
-                if (!mainLockWrapService.buildMinorTask(agv, param.getTaskMode(), endCode.getData(), null)) {
+                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
                     return R.error();
                 }
                 break;
             case TO_CHARGE:
             case TO_STANDBY:
-                if (!mainLockWrapService.buildMinorTask(agv, param.getTaskMode(), null, null)) {
+                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
                     return R.error();
                 }
                 break;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
index c3fa97f..f8c452a 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
@@ -35,7 +35,7 @@
 @Component
 public class KernelScheduler {
 
-    public static int CORE_SCAN_FREQUENCY_MILLISECOND = 30;
+    public static int CORE_SCAN_FREQUENCY_MILLISECOND = 15;
 
     private static final int LOCK_TIMEOUT = 5;
 
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
index 8927b6d..1e84517 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
@@ -81,7 +81,7 @@
                     continue;
                 }
 
-                mainLockWrapService.buildMinorTask(agv, TaskTypeType.TO_CHARGE, null, null);
+                mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_CHARGE, null, null);
             }
         }
     }
@@ -144,7 +144,7 @@
                 }
 //            }
 
-            mainLockWrapService.buildMinorTask(agv, TaskTypeType.TO_STANDBY, null, null);
+            mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_STANDBY, null, null);
         }
     }
 
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
index 6434f28..5d6cdb2 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
@@ -232,13 +232,13 @@
         return -weight;
     }
 
-    public Boolean validCapacityOfLane(Agv agv, Code code) {
+    public Boolean validCapacityOfLane(String agvNo, Code code) {
         Lane lane = laneService.search(code.getData());
         if (null != lane) {
             Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
 
             List<String> agvNosByLane = this.findAgvNosByLane(lane);
-            agvNosByLane.remove(agv.getUuid());
+            agvNosByLane.remove(agvNo);
             if (agvNosByLane.size() >= maxAgvCountInLane) {
                 return false;
             }
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java
index d2535f8..0021542 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainLockWrapService.java
@@ -46,7 +46,7 @@
         }
     }
 
-    public boolean buildMinorTask(Agv agv, TaskTypeType taskType, String destination, Jam jam) {
+    public boolean buildMinorTask(Long agvId, TaskTypeType taskType, String destination, Jam jam) {
         boolean lockAcquired = false;
         try {
             if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
@@ -54,7 +54,7 @@
             }
 //            log.info("buildMinorTask AGV[{}] lock time: {}", agv.getUuid(), System.currentTimeMillis());
 
-            return mainService.buildMinorTask(agv, taskType, destination, jam);
+            return mainService.buildMinorTask(agvId, taskType, destination, jam);
         } catch (Exception e) {
             log.error("MainLockWrapService.buildMinorTask[task]", e);
             TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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 6dd57dd..8a1f948 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
@@ -493,19 +493,20 @@
      * 鍏呯數 鍥炲緟鏈轰綅浠诲姟
      */
     @Transactional(propagation = Propagation.REQUIRES_NEW) // although there is a Transactional here that the lock is isolated, but we can't join the caller's Transactional
-    public boolean buildMinorTask(Agv agv, TaskTypeType taskType, String destination, Jam jam) {
-        if (Cools.isEmpty(agv, taskType)) { return false; }
+    public boolean buildMinorTask(Long agvId, TaskTypeType taskType, String destination, Jam jam) {
+        if (Cools.isEmpty(agvId, taskType)) { return false; }
         try {
-            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
-            if (!agvService.judgeEnable(agv.getId())) {
+            String agvNo = agvService.getAgvNo(agvId);
+            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
+            if (!agvService.judgeEnable(agvId)) {
                 return false;
             }
-            if (!Cools.isEmpty(taskService.selectInSts(agv.getId(), TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
-                throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign锛宐ecause already has the task in running...");
+            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
+                throw new CoolException("AGV[" + agvNo + "] failed to assign锛宐ecause already has the task in running...");
             }
-            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()))
-                    || !Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
-                throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign锛宐ecause already has the segment in running...");
+            if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString()))
+                    || !Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.RUNNING.toString()))) {
+                throw new CoolException("AGV[" + agvNo + "] failed to assign锛宐ecause already has the segment in running...");
             }
 
             Date now = new Date();
@@ -513,13 +514,13 @@
             switch (taskType) {
                 case TO_CHARGE:
                 case TO_STANDBY:
-                    List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agv.getId());
+                    List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agvId);
                     if (!Cools.isEmpty(idleFunStaList)) {
                         FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
                         endCode = codeService.getById(funcSta.getCode());
                     }
                     if (null == endCode) {
-                        log.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", agv.getUuid(), taskType.toString());
+                        log.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", agvNo, taskType.toString());
                     }
                     break;
                 case MOVE:
@@ -532,12 +533,12 @@
             if (null == endCode) {
                 return false;
             }
-            if (!allocateService.validCapacityOfLane(agv, endCode)) {
-                throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agv.getUuid() + "]!!!");
+            if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
+                throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agvNo + "]!!!");
             }
 
             Task task = new Task();
-            task.setAgvId(agv.getId());
+            task.setAgvId(agvId);
             task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
             List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
             task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
@@ -561,7 +562,7 @@
             Travel travel = new Travel();
             travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
             travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
-            travel.setAgvId(agv.getId());
+            travel.setAgvId(agvId);
 //            travel.setTaskContent(JSON.toJSONString(list));
             travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
             travel.setState(TravelStateType.RUNNING.toString());
@@ -591,7 +592,7 @@
             Segment segment = new Segment();
             segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
             segment.setTravelId(travel.getId());
-            segment.setAgvId(agv.getId());
+            segment.setAgvId(agvId);
             segment.setTaskId(task.getId());
             segment.setSerial(segSerial);
             segment.setEndNode(endCode.getId());
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
index b217b39..801d110 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
@@ -77,13 +77,12 @@
         if (!agvService.judgeEnable(agvId)) {
             return;
         }
-        Agv agv = agvService.getById(agvId);
-        Code destinationCode = this.getDestinationCode(agv, agvDetail);
+        Code destinationCode = this.getDestinationCode(agvNo, agvDetail);
         if (null == destinationCode) {
             return;
         }
-        if (mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, destinationCode.getData(), null)) {
-            log.info(agv.getUuid() + "寮�濮嬭蛋琛屾紨绀�...");
+        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCode.getData(), null)) {
+            log.info(agvNo + "寮�濮嬭蛋琛屾紨绀�...");
         }
     }
 
@@ -98,7 +97,7 @@
      * 璇勪及HandlerController娌℃湁璋冪敤buildMajorTask锛屾墜鍔ㄥ垱寤簍ask鐨勫彲琛屾��
      * agv鍦板浘鍥炬爣鍙樺寲
      */
-    public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {
+    public Code getDestinationCode(String agvNo, AgvDetail agvDetail) {
         Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
 
         Code startCode = codeService.getById(agvDetail.getRecentCode());
@@ -128,7 +127,7 @@
 
         for (Code endCode : list) {
             // valid lane
-            if (!allocateService.validCapacityOfLane(agv, endCode)) {
+            if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
                 continue;
             }
 
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 4b84676..9f990f3 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
@@ -477,8 +477,8 @@
      * avoidPathList include wave node and dynamic node
      */
     private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
-        Agv agv = agvService.selectByUuid(agvNo);
-        if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
+        Long agvId = agvService.getAgvId(agvNo);
+        if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.RUNNING.toString()))) {
             log.warn("{}鍙疯溅杈嗛伩璁╁け璐ワ紝瀛樺湪杩涜涓换鍔★紒锛侊紒", agvNo);
             return false;
         }
@@ -496,7 +496,7 @@
         String endCodeData = finalNode.getCodeData();
         Code endCode = codeService.getCacheByData(endCodeData);
 
-        List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
+        List<Segment> waitingSegList = segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString());
         if (!Cools.isEmpty(waitingSegList)) {
 
             if (waitingSegList.size() > 1) {
@@ -517,7 +517,7 @@
             Segment insertSeg = new Segment();
             insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
             insertSeg.setTravelId(segment.getTravelId());
-            insertSeg.setAgvId(agv.getId());
+            insertSeg.setAgvId(agvId);
             insertSeg.setTaskId(segment.getTaskId());
             insertSeg.setSerial(segment.getSerial() - 1);
             insertSeg.setEndNode(endCode.getId());
@@ -533,7 +533,7 @@
 
         } else {
 
-            return mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, endCodeData, jam);
+            return mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, endCodeData, jam);
         }
 
         return true;

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