| | |
| | | @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<>(); |
| | | |
| | |
| | | } |
| | | |
| | | private void patrolOfMove(String agvNo) { |
| | | Agv agv = agvService.selectByUuid(agvNo); |
| | | AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId()); |
| | | Long agvId = agvService.getAgvId(agvNo); |
| | | AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId); |
| | | 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) { |
| | | .eq(Task::getAgvId, agvId) |
| | | .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()) |
| | | ) > 0) { |
| | | return; |
| | | } |
| | | if (!agvService.judgeEnable(agv.getId())) { |
| | | if (!agvService.judgeEnable(agvId)) { |
| | | return; |
| | | } |
| | | Agv agv = agvService.getById(agvId); |
| | | Code destinationCode = this.getDestinationCode(agv, agvDetail); |
| | | if (null == destinationCode) { |
| | | return; |