Merge branch 'refs/heads/rcs_master' into jdxaj

zhang

12 小时以前 70930071a49190f414c8d8bc9c9e9795a4096739

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

@@ -15,6 +15,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import com.zy.acs.common.utils.News;

import java.util.*;
import java.util.stream.Collectors;
@@ -64,7 +65,6 @@
        List<String> result = new ArrayList<>();
        for (Agv agv : agvList) {
            if (!hasRunning) {
                // 1. without running tasks
                if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                        .eq(Task::getAgvId, agv.getId())
                        .and(i -> i
@@ -75,10 +75,13 @@
                )) {
                    continue;
                }
            }
            // 2. in idle status
            if (!agvService.judgeEnable(agv.getId(), true)) {
                continue;
                if (!agvService.judgeEnable(agv.getId(), true, true)) {
                    continue;
                }
            } else {
                if (!agvService.judgeEnable(agv.getId(), true, false)) {
                    continue;
                }
            }

            result.add(agv.getUuid());
@@ -160,7 +163,7 @@
        List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvIdsByTask(task), false);
//        List<String> availableAgvNos = this.getAvailableAgvNos(null);
        if (Cools.isEmpty(availableAgvNos)) {
//            log.warn("No available agv to assign the task[{}]", task.getSeqNum());
//            News.warn("No available agv to assign the task[{}]", task.getSeqNum());
            return null;
        }

@@ -323,16 +326,16 @@

        // valid
        if (Cools.isEmpty(availableAgvNosByOriLane)) {
            log.warn("No available agv to assign the task origin[{}]", task.getSeqNum());
            News.warn("No available agv to assign the task origin[{}]", task.getSeqNum());
            return null;
        }
        if (Cools.isEmpty(availableAgvNosByDestLane)) {
            log.warn("No available agv to assign the task destination[{}]", task.getSeqNum());
            News.warn("No available agv to assign the task destination[{}]", task.getSeqNum());
            return null;
        }
        List<String> actualAvailableAgvNos = Cools.getIntersection(availableAgvNosByOriLane, availableAgvNosByDestLane);
        if (Cools.isEmpty(actualAvailableAgvNos)) {
            log.warn("No available agv to assign the task[{}]", task.getSeqNum());
            News.warn("No available agv to assign the task[{}]", task.getSeqNum());
            return null;
        }

@@ -524,4 +527,4 @@
        }
    }

}
}