From ee33743c69348607e6e7eb19e60b566306e8fb67 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 03 四月 2025 09:43:11 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 32 +++++++++++++++++++++++---------
1 files changed, 23 insertions(+), 9 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 7a4edd4..7825f26 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
@@ -859,6 +859,7 @@
// 浣滀笟鐐瑰姩浣�
AgvDirectionType agvDirectionType;
+ Double staWorkDirection;
AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
case ORI_LOC:
@@ -974,18 +975,18 @@
lastDirection = oriStaWorkDirection;
}
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirectionByStation(oriSta, lastCode);
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(oriStaWorkDirection, lastDirection);
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.ReadyTakeFromShelvesLoc.desc, // 鍚嶇О
- (double) agvDirectionType.val, // 灞炴�у��
+ ActionTypeType.ReadyTakeFromConveyorSta.desc, // 鍚嶇О
+ staWorkDirection, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(oriSta.getOffset()), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
+ ActionTypeType.ReadyTakeFromConveyorSta.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
@@ -1053,18 +1054,18 @@
now // 宸ヤ綔鏃堕棿
));
// 璁＄畻璐у弶宸ヤ綔鏂瑰悜
- agvDirectionType = mapService.calculateAgvWorkDirectionByStation(destSta, lastCode);
+ staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
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.ReadyReleaseToShelvesLoc.desc, // 鍚嶇О
- (double) agvDirectionType.val, // 灞炴�у��
+ ActionTypeType.ReadyReleaseToConveyorSta.desc, // 鍚嶇О
+ staWorkDirection, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
String.valueOf(destSta.getOffset()), // 鍔ㄤ綔鍙傛暟
- ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 鍔ㄤ綔绫诲瀷
+ 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
@@ -1241,7 +1242,6 @@
String agvNo = agvService.getAgvNo(actionList.get(0).getAgvId());
AgvAction agvAction = new AgvAction(agvNo, actionGroupId);
for (Action action : actionList) {
-
switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
case TurnCorner:
agvAction.add(new AgvActionItem<>(TurnCornerAction.class)
@@ -1275,6 +1275,13 @@
.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
);
break;
+ case ReadyTakeFromConveyorSta:
+ agvAction.add(new AgvActionItem<>(ReadyTakeFromConveyorSta.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ );
+ break;
case ReadyTakeFromAgvSite:
agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
.setVal(action.getVal().intValue())
@@ -1289,6 +1296,13 @@
.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
);
break;
+ case ReadyReleaseToConveyorSta:
+ agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
+ .setVal(action.getVal().intValue())
+ .setQrCode(action.getCode())
+ .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
+ );
+ break;
case ReadyReleaseToAgvSite:
agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
.setVal(action.getVal().intValue())
--
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