From 3a6155c8c3464152e0bc6267059a045c0d102c49 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 15 十二月 2025 08:55:56 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 116 ++++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 80 insertions(+), 36 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 2ff23fc..edcc01f 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
@@ -137,6 +137,7 @@
throw new BusinessException("Internal Server Error!");
}
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
@@ -190,6 +191,11 @@
if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
}
+ } else {
+ List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
+ if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " task more");
+ }
}
destSta.setStaSts(StaStsType.READY_RELEASE.val());
destSta.setUpdateTime(now);
@@ -237,6 +243,11 @@
if (destSta.getStaTypeIsCheck() != 1) {
if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
+ }
+ } else {
+ List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
+ if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) {
+ throw new BusinessException("destSta锛�" + task.getDestSta$() + " task more");
}
}
destSta.setStaSts(StaStsType.READY_RELEASE.val());
@@ -769,6 +780,7 @@
continue;
}
+
String next = pathListPart.get(i);
Code nextCode = codeService.getCacheByData(next);
@@ -842,6 +854,23 @@
lastDirection = nextDirection;
}
+
+ 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
+ 1D, // 灞炴�ш皰
+ lastCode.getData(), // 鍦伴潰鐮�
+ "350", // 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
+ ));
+
// run
ActionTypeType actionType = ActionTypeType.StraightAheadTurnable;
@@ -1093,9 +1122,8 @@
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
- destSta.getStaTypeIsCheck() == 1 ? 2 : 0,
- destSta.getStaNo()
+ now // 宸ヤ綔鏃堕棿
+
));
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
@@ -1112,7 +1140,9 @@
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
+ now, // 宸ヤ綔鏃堕棿
+ destSta.getStaTypeIsCheck() == 1 ? 2 : 0,
+ destSta.getStaNo()
));
break;
case TO_CHARGE:
@@ -1490,11 +1520,11 @@
// }
// }
- 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
@@ -1528,31 +1558,31 @@
// }
// }
// }
- List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
- for (Long taskId : taskIds) {
- Task task = taskService.getById(taskId);
- report(task, agv_11_up.getQrCode(), 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);
- }
- }
+// 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);
- }
- }
+// 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)
@@ -1592,6 +1622,8 @@
// task
for (Segment segment : segmentList) {
boolean taskComplete = false;
+ boolean otbin = false;
+
Task task = taskService.getById(segment.getTaskId());
assert null != task;
@@ -1602,6 +1634,7 @@
switch (Objects.requireNonNull(posType)) {
case ORI_STA:
case ORI_LOC:
+ otbin = true;
break;
case DEST_STA:
case DEST_LOC:
@@ -1622,16 +1655,24 @@
break;
}
+ if (otbin) {
+ locService.taskCallBackOtbin(task);
+ report(task, null, TaskReportStsType.OTBIN);
+ }
+
+
if (taskComplete) {
- locService.taskCallBack(task);
+ locService.taskCallBackEnd(task);
task.setTaskSts(TaskStsType.COMPLETE.val());
task.setEndTime(now);
task.setUpdateTime(now);
if (!taskService.updateById(task)) {
log.error("Task [{}] 鏇存柊澶辫触 锛侊紒锛�", task.getSeqNum());
- } else {
- report(task, null, TaskReportStsType.END);
+ }
+ report(task, null, TaskReportStsType.END);
+ if (task.getSeqNum() != null && task.getSeqNum().contains("SSX-CK")) {
+ report(task, "1001", TaskReportStsType.COMPLETED);
}
}
}
@@ -1675,19 +1716,22 @@
}
List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>().eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$()).eq(TaskReport::getTaskSts, taskReportStsType.status));
if (!Cools.isEmpty(list)) {
- log.info("TaskReport [{}] 宸查噸澶嶏紝涓嶅啀鎻掑叆 ==========>> ", JSON.toJSONString(task));
+ log.info("TaskReport [{},{}] 宸查噸澶嶏紝涓嶅啀鎻掑叆 ==========>> ", taskReportStsType, JSON.toJSONString(task));
return;
}
TaskReport taskReport = new TaskReport();
taskReport.setAgvId(task.getAgvId());
+ taskReport.setAgvNo(task.getAgvId$());
taskReport.setBusNo(task.getBusId$());
taskReport.setCreateTime(new Date());
taskReport.setCompleted(0);
taskReport.setQrCode(qrCode);
taskReport.setReportTimes(0);
taskReport.setTaskSts(taskReportStsType.status);
+ taskReport.setEventType(taskReportStsType.name);
taskReport.setSeqNum(task.getSeqNum());
taskReport.setZpallet(task.getZpallet());
+
if (!taskReportService.save(taskReport)) {
log.info("TaskReport [{}] 鎻掑叆澶辫触 ==========>> ", JSON.toJSONString(taskReport));
} else {
@@ -1697,10 +1741,10 @@
private boolean askSta(Integer askType, String askSta) {
log.info("鏉ヨ闂緭閫佺嚎浜嗭紝{}锛寋}", askType, askSta);
- String wmsUrl = configService.getVal("WMS_URL", String.class);
+ String wmsUrl = configService.getVal("WCS_URL", String.class);
String wmsPath = configService.getVal("WMS_STA", String.class);
if (Cools.isEmpty(wmsPath) || Cools.isEmpty(wmsUrl)) {
- return true;
+ return false;
}
Integer time = configService.getVal("TIMEOUT", Integer.class, 5);
//Integer times = configService.getVal("REPORT_TIMES", Integer.class, 2);
--
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