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luxiaotao1123

2025-01-03 86620f192814851deb88c1a1bc78ba8555966cda

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

@@ -77,10 +77,7 @@
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
        if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getAgvId, agvId)
                        .and( i -> {
//                    i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
                            i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
                        })
                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
        )) {
            log.warn("[{}]号Agv正在忙碌 - segment......", agv.getUuid());
            return false;
@@ -89,7 +86,7 @@
            log.warn("[{}]号Agv不是在线状态......", agv.getUuid());
            return false;
        }
        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agv.getId());
        if (null == agvDetail) {
            log.warn("[{}]号Agv未收到状态包......", agv.getUuid());
            return false;