#

luxiaotao1123

2025-01-03 86620f192814851deb88c1a1bc78ba8555966cda

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

@@ -34,7 +34,7 @@
@Service
public class PatrolService {

    private static final int SCHEDULE_TIME_INTERVAL = 300;
    private static final int SCHEDULE_TIME_INTERVAL = 100;

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

@@ -67,14 +67,11 @@

    private void patrolOfMove(String agvNo) {
        Agv agv = agvService.selectByUuid(agvNo);
        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agv.getId());
        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) {
                .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
                ) > 0) {
            return;
        }
        if (!agvService.judgeEnable(agv.getId())) {