#

vincentlu

2025-03-18 4c9169967a879b54c04b0754ab9830a5a6baa708

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java

@@ -9,6 +9,7 @@
import com.zy.acs.manager.common.domain.BaseParam;
import com.zy.acs.manager.common.domain.PageParam;
import com.zy.acs.manager.common.domain.PageResult;
import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.core.domain.VehicleDto;
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.Agv;
@@ -79,7 +80,12 @@
    @Override
    public Long getAgvId(String uuid) {
        if (Cools.isEmpty(uuid)) {
            return null;
            Agv agv = this.selectByUuid(uuid);
            if (agv != null) {
                AGV_ID_MAP.put(uuid, agv.getId());
            } else {
                return null;
            }
        }
        return AGV_ID_MAP.get(uuid);
    }
@@ -87,7 +93,12 @@
    @Override
    public String getAgvNo(Long agvId) {
        if (Cools.isEmpty(agvId)) {
            return null;
            Agv agv = this.getById(agvId);
            if (agv != null) {
                AGV_NO_MAP.put(agvId, agv.getUuid());
            } else {
                return null;
            }
        }
        return AGV_NO_MAP.get(agvId);
    }
@@ -100,29 +111,29 @@

    @Override
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
        Agv agv = this.getById(agvId);
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
        String agvNo = this.getAgvNo(agvId);
        AgvModel agvModel = agvModelService.getByAgvId(agvId);
        if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getAgvId, agvId)
                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
        )) {
            log.warn("[{}]号Agv正在忙碌 - segment......", agv.getUuid());
            log.warn("[{}]号Agv正在忙碌 - segment......", agvNo);
            return false;
        }
        if (!this.judgeOnline(agv.getId())) {
            log.warn("[{}]号Agv不是在线状态......", agv.getUuid());
        if (!this.judgeOnline(agvId)) {
            log.warn("[{}]号Agv不是在线状态......", agvNo);
            return false;
        }
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agv.getId());
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
        if (null == agvDetail) {
            log.warn("[{}]号Agv未收到状态包......", agv.getUuid());
            log.warn("[{}]号Agv未收到状态包......", agvNo);
            return false;
        }
        if (agvDetail.getVol() == 0) {
            return false;
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            log.warn("[{}]号Agv不是空闲状态......", agv.getUuid());
            log.warn("[{}]号Agv不是空闲状态......", agvNo);
            return false;
        }
        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -132,18 +143,19 @@
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getPos() != 1) {
                log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
                log.warn("[{}]号Agv当前不在定位......", agvNo);
                return false;
            }
            if (null == agvDetail.getRecentCode()) {
                log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
                log.warn("[{}]号Agv当前不在定位......", agvNo);
                return false;
            }
        }
        // with battery
        if (isLowBattery) {
            Agv agv = this.getById(agvId);
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                log.warn("[{}]号Agv电量不足......", agvNo);
                return false;
            }
        }
@@ -170,7 +182,7 @@
            AgvDetail detail = agvDetailService.selectByAgvId(agv.getId());
            VehicleDto dto = new VehicleDto();
            dto.setVehicle(agv.getUuid());
            dto.setPosCode(codeService.getById(detail.getRecentCode()).getData());
            dto.setPosCode(codeService.getCacheById(detail.getRecentCode()).getData());
            res.add(dto);
        }
        return res;
@@ -181,7 +193,7 @@
//        if (null != agv.getStage()) {
//            return agv.getStage();
//        }
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
        AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
        assert null != agvModel;
        return agvModel.getBackpack();
    }
@@ -206,4 +218,15 @@
        return null;
    }

    @Override
    public int getBackpackRemainingCapacity(Long agvId) {
        Integer usedSlots = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
        if (null == usedSlots) {
            usedSlots = taskService.findTransportTasksCountByAgv(agvId);
        }

        AgvModel agvModel = agvModelService.getByAgvId(agvId);
        return Math.max(agvModel.getBackpack() - usedSlots, 0); // if less than zero, then return zero
    }

}