From e2bbbae80c232e386d7f06daab2a1daf2229bbc1 Mon Sep 17 00:00:00 2001
From: yy <yy123>
Date: 星期二, 30 十二月 2025 13:14:07 +0800
Subject: [PATCH] Merge branch 'whxr' of http://47.97.1.152:5880/r/rcs-flow into whxr
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 70 ++++++++++++++++++++++++----------
1 files changed, 49 insertions(+), 21 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 c015d8f..0ecb63d 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
@@ -34,7 +34,6 @@
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;
@@ -143,7 +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) {
@@ -766,9 +764,10 @@
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);
// 鑺傜偣鏉＄爜
Code code = codeService.getCacheById(segment.getEndNode());
@@ -792,10 +791,8 @@
// 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");
- 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(lastCode.getData())) {
reverse = false;
lastDirection = nextDirection;
} else {
@@ -822,9 +819,7 @@
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") || lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
actionList.add(new Action(
@@ -842,7 +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 (list.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) {
+ turnDirection = 180.0;
+ }
// turn
actionList.add(new Action(
null, // 缂栧彿s
@@ -853,19 +859,23 @@
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") || lastCode.getData().equals("00000080"))) {
// turn
reverse = false;
actionList.add(new Action(
@@ -883,6 +893,12 @@
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
+ log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
+ posType,
+ lastCode.getData(),
+ lastCode.getCornerBool(),
+ nextDirection,
+ 180);
}
}
}
@@ -905,6 +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;
}
@@ -940,10 +962,8 @@
if (first) {
if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
Double turnDirection = workDirection;
- 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(lastCode.getData())) {
turnDirection = workDirection + 180.0;
}
if (lastCode.getCornerBool()) {
@@ -963,6 +983,12 @@
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;
}
}
@@ -978,7 +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());
@@ -1020,7 +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(
@@ -2428,7 +2456,7 @@
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")) {
+ 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�");
--
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