#

luxiaotao1123

2024-11-20 c514b7d8ad8a3f89b81c949e265446b4f09a4bb5

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

@@ -45,6 +45,8 @@
    private CodeService codeService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private TaskService taskService;

    @Override
    public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
@@ -73,16 +75,24 @@
    public Boolean judgeEnable(Long agvId, Boolean withBattery) {
        Agv agv = this.getById(agvId);
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
        if (segmentService.count(new LambdaQueryWrapper<Segment>()
        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());
                        })
        ) > 0) {
            log.warn("[{}]号Agv正在忙碌 -segment......", agv.getUuid());
        )) {
            log.warn("[{}]号Agv正在忙碌 - segment......", agv.getUuid());
            return false;
        }
//        if (0 < taskService.count(new LambdaQueryWrapper<Task>()
//                .eq(Task::getAgvId, agvId)
//                .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
//                .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
//        )){
//            log.warn("[{}]号Agv正在去充电 - task......", agv.getUuid());
//            return false;
//        }
        if (!this.judgeOnline(agv.getId())) {
            log.warn("[{}]号Agv不是在线状态......", agv.getUuid());
            return false;
@@ -148,9 +158,9 @@

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