From fd750ac26930d14ed1f9a834c1da188f4f1475ac Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 15 一月 2026 15:14:37 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java | 82 +++++++++++++++++++++++++++++++++++++---
1 files changed, 75 insertions(+), 7 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
index f205ea9..42d8eb3 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java
@@ -4,12 +4,10 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.exception.BusinessException;
+import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.manager.controller.result.MissionVo;
import com.zy.acs.manager.manager.entity.*;
-import com.zy.acs.manager.manager.enums.ActionStsType;
-import com.zy.acs.manager.manager.enums.BusStsType;
-import com.zy.acs.manager.manager.enums.SegmentStateType;
-import com.zy.acs.manager.manager.enums.TaskStsType;
+import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import org.apache.ibatis.session.SqlSession;
import org.springframework.beans.factory.annotation.Autowired;
@@ -134,13 +132,83 @@
if (Cools.isEmpty(actionList)) {
return Boolean.FALSE;
}
- List<Long> actionIds = actionList.stream().map(Action::getId).collect(Collectors.toList());
+ Date now = new Date();
- String actionGroupId = actionService.getById(actionIds.get(0)).getGroupId();
+ List<Long> actionIds = actionList.stream().map(Action::getId).collect(Collectors.toList());
+ Action firstAction = actionService.getById(actionIds.get(0));
+ if (firstAction == null) {
+ return Boolean.FALSE;
+ }
+
+ String actionGroupId = firstAction.getGroupId();
actionService.updateStsByGroupId(actionGroupId, ActionStsType.EXPIRED.val());
+ // if firstAction is not turn, insert a new turn action
+ Action prependTurn = null;
+ if (!firstAction.getActionType().equals(ActionTypeType.TurnCorner.val())) {
+ String codeData = firstAction.getCode();
+ Code code = codeService.getCacheByData(codeData);
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(firstAction.getAgvId());
+ Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
+
+ List<Action> fullActionList = actionService.list(
+ new LambdaQueryWrapper<Action>()
+ .eq(Action::getGroupId, actionGroupId)
+ .select(Action::getId, Action::getActionType, Action::getPriority)
+ .orderByDesc(Action::getPriority)
+ );
+
+ int idx = -1;
+ for (int k = 0; k < fullActionList.size(); k++) {
+ if (fullActionList.get(k).getId().equals(firstAction.getId())) {
+ idx = k;
+ break;
+ }
+ }
+
+ if (idx > 0) {
+ Long turnActionId = null;
+ // find out turn action
+ for (int k = idx - 1; k >= 0; k--) {
+ Action a = fullActionList.get(k);
+ if (a.getActionType().equals(ActionTypeType.TurnCorner.val())) {
+ turnActionId = a.getId();
+ break;
+ }
+ }
+
+
+ if (null != turnActionId) {
+ Action turn = actionService.getById(turnActionId);
+ Double direction = Double.parseDouble(turn.getParams());
+ // new turn action
+ prependTurn = new Action(
+ null, // 缂栧彿
+ firstAction.getBusId(), // 鎬荤嚎
+ firstAction.getTaskId(), // 浠诲姟
+ null, // 鍔ㄤ綔鍙�
+ null, // 浼樺厛绾�
+ ActionTypeType.TurnCorner.desc, // 鍚嶇О
+ (double) MapService.calcSpinDirection(code, lastDirection, direction).val, // 灞炴�у��
+ code.getData(), // 鍦伴潰鐮�
+ String.valueOf(direction), // 鍔ㄤ綔鍙傛暟
+ ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
+ ActionStsType.PREPARE.val(), // 鍔ㄤ綔杩涘害
+ firstAction.getAgvId(), // AGV
+ now // 宸ヤ綔鏃堕棿
+ );
+ }
+
+ }
+ }
+
List<Action> newActionList = new ArrayList<>();
- Date now = new Date();
+ if (prependTurn != null) {
+ prependTurn.setGroupId(actionGroupId);
+ prependTurn.setCreateTime(now);
+ prependTurn.setUpdateTime(now);
+ newActionList.add(prependTurn);
+ }
for (Long actionId : actionIds) {
sqlSession.clearCache();
Action action = actionService.getById(actionId);
--
Gitblit v1.9.1