#

luxiaotao1123

2025-01-08 36dcec12994c82fffe2a86a6acf12ecbd071fffb

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java

@@ -34,9 +34,9 @@
@Service
public class PatrolService {

    private static final int SCHEDULE_TIME_INTERVAL = 5;
    private static final int SCHEDULE_TIME_INTERVAL = 100;

    private static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();
    public static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

@@ -66,20 +66,18 @@
    }

    private void patrolOfMove(String agvNo) {
        Agv agv = agvService.selectByUuid(agvNo);
        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        Long agvId = agvService.getAgvId(agvNo);
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
        if (taskService.count(new LambdaQueryWrapper<Task>()
                .eq(Task::getAgvId, agv.getId())
                .and(i -> {
                    i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                            .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                            .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                })) > 0) {
                .eq(Task::getAgvId, agvId)
                .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
                ) > 0) {
            return;
        }
        if (!agvService.judgeEnable(agv.getId())) {
        if (!agvService.judgeEnable(agvId)) {
            return;
        }
        Agv agv = agvService.getById(agvId);
        Code destinationCode = this.getDestinationCode(agv, agvDetail);
        if (null == destinationCode) {
            return;
@@ -121,6 +119,9 @@
        notInCodeList.add("00000363");
        notInCodeList.add("00000411");
        notInCodeList.add("00000412");

        notInCodeList.add("00000046");
        notInCodeList.add("00000047");
        List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));

        Collections.shuffle(list);
@@ -166,7 +167,7 @@
            }
        };

        ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.SECONDS);
        ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.MILLISECONDS);

        AGV_PATROL_MAP.put(agvNo, scheduledFuture);
        log.info("已启动AGV " + agvNo + " 的跑库任务。");