#

luxiaotao1123

2024-12-30 3d7bf12a7d6f139624a2dacd1bd80781d7f658e5

 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 = 300;

    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;

@@ -84,7 +84,7 @@
        if (null == destinationCode) {
            return;
        }
        if (mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, destinationCode.getData())) {
        if (mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, destinationCode.getData(), null)) {
            log.info(agv.getUuid() + "开始走行演示...");
        }
    }
@@ -106,7 +106,24 @@
        Code startCode = codeService.getById(agvDetail.getRecentCode());

        List<String> notInCodeList = new ArrayList<>();
        notInCodeList.add("00000151");
        notInCodeList.add("00000301");
        notInCodeList.add("00000302");
        notInCodeList.add("00000303");
        notInCodeList.add("00000351");
        notInCodeList.add("00000353");
        notInCodeList.add("00000401");
        notInCodeList.add("00000402");

        notInCodeList.add("00000311");
        notInCodeList.add("00000312");
        notInCodeList.add("00000313");
        notInCodeList.add("00000361");
        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);
@@ -152,7 +169,7 @@
            }
        };

        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。");