From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 48 ++++++++++++++++++++++++++++++++++--------------
1 files changed, 34 insertions(+), 14 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 99f715d..dbf5fd2 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
@@ -179,7 +179,7 @@
if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
}
- destSta.setStaSts(StaStsType.PAKIN.val());
+ destSta.setStaSts(StaStsType.READY_RELEASE.val());
destSta.setUpdateTime(now);
if (!staService.updateById(destSta)) {
throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to update");
@@ -190,7 +190,7 @@
if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
}
- oriSta.setStaSts(StaStsType.PAKOUT.val());
+ oriSta.setStaSts(StaStsType.READY_TAKE.val());
oriSta.setUpdateTime(now);
if (!staService.updateById(oriSta)) {
throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to update");
@@ -211,7 +211,7 @@
if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
throw new BusinessException("oriSta锛�" + task.getOriSta$() + " is not in STOCK status");
}
- oriSta.setStaSts(StaStsType.PAKOUT.val());
+ oriSta.setStaSts(StaStsType.READY_TAKE.val());
oriSta.setUpdateTime(now);
if (!staService.updateById(oriSta)) {
throw new BusinessException("oriSta锛�" + task.getOriSta$() + " failed to update");
@@ -221,7 +221,7 @@
if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
throw new BusinessException("destSta锛�" + task.getDestSta$() + " is not in IDLE status");
}
- destSta.setStaSts(StaStsType.PAKIN.val());
+ destSta.setStaSts(StaStsType.READY_RELEASE.val());
destSta.setUpdateTime(now);
if (!staService.updateById(destSta)) {
throw new BusinessException("destSta锛�" + task.getDestSta$() + " failed to update");
@@ -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
@@ -1212,6 +1213,13 @@
if (Cools.isEmpty(actionList)) {
return;
}
+
+ Long agvId = actionList.get(0).getAgvId();
+ String agvNo = agvService.getAgvNo(agvId);
+ if (!agvService.judgeOnline(agvId)) {
+ return;
+ }
+
long actionIssuedSts = ActionStsType.ISSUED.val();
for (Action action : actionList) {
action.setActionSts(actionIssuedSts);
@@ -1238,10 +1246,8 @@
}
}
- 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 +1281,13 @@
.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 +1302,13 @@
.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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