#

luxiaotao1123

2024-11-04 7f70cb15d035f0c233b9e62b9e43aa985317c908

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

@@ -4,7 +4,6 @@
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.common.utils.JudgeSupport;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.domain.BaseParam;
@@ -14,6 +13,7 @@
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
@@ -67,20 +67,21 @@

    @Override
    public Boolean judgeEnable(Long agvId) {
        return this.judgeEnable(agvId, null);
        return this.judgeEnable(agvId, false);
    }

    @Override
    public Boolean judgeEnable(Long agvId, JudgeSupport<AgvDetail> support) {
    public Boolean judgeEnable(Long agvId, Boolean withBattery) {
        Agv agv = this.getById(agvId);
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
        if (segmentService.count(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getAgvId, agvId)
                .and( i -> {
                        .eq(Segment::getAgvId, agvId)
                        .and( i -> {
//                    i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
                    i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
                })
                            i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
                        })
        ) > 0) {
            log.warn("[{}]号Agv正在忙碌 -segment......", agv.getUuid());
            return false;
        }
        if (!this.judgeOnline(agv.getId())) {
@@ -104,17 +105,24 @@
                return false;
            }
        }
        if (support != null) {
            if (!support.execute(agvDetail)) {
                return false;
            }
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getPos() != 1) {
                log.warn("[{}]号Agv请移动到定位......", agv.getUuid());
                log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
                return false;
            }
        }
        // with battery
        if (withBattery) {
            if (agvDetail.getVol() < agv.getChargeLine()) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                return false;
            }
            if (agvDetail.getVol() < agvModel.getLowBattery()) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                return false;
            }
        }

        return true;
    }

@@ -143,4 +151,29 @@
        return res;
    }

    @Override
    public Integer getBackpack(Agv agv) {
        if (null != agv.getStage()) {
            return agv.getStage();
        }
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
        assert null != agvModel;
        return agvModel.getBackpack();
    }

    @Override
    public Agv findByPosition(Long codeId) {
        List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail) {
                continue;
            }
            if (agvDetail.getRecentCode().equals(codeId)) {
                return agv;
            }
        }
        return null;
    }

}