From debea8129a05b55bdaafb01041c00027c38f3c6a Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 22 一月 2026 09:53:07 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 39 +++++++++++++++++++++------------------
1 files changed, 21 insertions(+), 18 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 45c9131..eab628b 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
@@ -11,6 +11,7 @@
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
+import com.zy.acs.common.utils.Base62;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
@@ -272,12 +273,12 @@
// get backpack lev
int backpackLev = 0;
- int backpack = agvService.getBackpack(agvId);
+ int backpackCap = agvService.getBackpack(agvId);
List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
- if (usedBackpacks.size() >= backpack) {
+ if (usedBackpacks.size() >= backpackCap) {
throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
}
- for (int lev = 1; lev <= backpack; lev++) {
+ for (int lev = 1; lev <= backpackCap; lev++) {
if (!usedBackpacks.contains(lev)) {
backpackLev = lev;
break;
@@ -512,9 +513,9 @@
return o2.getPriority() - o1.getPriority();
}
});
- Integer backpack = agvService.getBackpack(agvId);
- if (taskList.size() > backpack) {
- taskList = taskList.subList(0, backpack);
+ Integer backpackCap = agvService.getBackpack(agvId);
+ if (taskList.size() > backpackCap) {
+ taskList = taskList.subList(0, backpackCap);
}
AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
@@ -788,7 +789,8 @@
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()));
+// task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
+ task.setSeqNum(Base62.encode(snowflakeIdWorker.nextId()));
task.setOriCode(agvDetail.getCode());
task.setDestCode(endCode.getId());
// lane
@@ -978,7 +980,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextLaneDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(nextLaneDir), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -993,10 +995,10 @@
reverse = true;
}
nextDirection = nextLaneDir; // 闃叉 绗竴涓姩浣滀竴瀹氭槸 turn 鍑洪棶棰�
- } else if (null != lastLaneDir) { // todo turn 鐜舰鐩磋
+ } else if (null != lastLaneDir) { // turn 鐜舰鐩磋涓嶅簲璇ュ瓨鍦ㄤ簬lane涓�
final double oppLastLaneDir = (lastLaneDir + 180) % 360;
- if (!lastDirection.equals(nextDirection)) { // lastLaneDir
+ if (!lastDirection.equals(lastLaneDir)) {
if (!lastCode.getCornerBool()) {
throw new CoolException(agvNo + "鍙峰皬杞︾寮�宸烽亾闇�璋冩暣鏂瑰悜涓� " + nextDirection + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
}
@@ -1045,7 +1047,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 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
@@ -1070,7 +1072,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, nextDirection).val, // 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
@@ -1137,7 +1139,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, firstTurnDir).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(firstTurnDir), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1263,7 +1265,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, oriStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(oriStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1327,7 +1329,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, destStaWorkDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(destStaWorkDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1386,7 +1388,7 @@
null, // 鍔ㄤ綔鍙�
null, // 浼樺厛绾�
ActionTypeType.TurnCorner.desc, // 鍚嶇О
- (double) mapService.spinDirection(lastCode).val, // 灞炴�у��
+ (double) MapService.calcSpinDirection(lastCode, lastDirection, chargeDirection).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(chargeDirection), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
@@ -1868,6 +1870,7 @@
staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
break;
}
+ log.info("AGV[{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
success = true;
break;
case DEST_STA:
@@ -1883,6 +1886,7 @@
staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
break;
}
+ log.info("AGV[{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
success = true;
break;
default:
@@ -1899,8 +1903,7 @@
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);
- agv_06_down.setResult(1);
+ agv_06_down.setResult(success ? 1 : 0);
redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
}
--
Gitblit v1.9.1