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vincentlu

9 天以前 d0b25091a0c2dbef45299e152078f858d6d4039e

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

@@ -190,19 +190,21 @@

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

    @Override
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery, Boolean idleStatus) {
        String agvNo = this.getAgvNo(agvId);
        AgvModel agvModel = agvModelService.getByAgvId(agvId);
        if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getAgvId, agvId)
                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
        )) {
        if (idleStatus) {
            if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                    .eq(Segment::getAgvId, agvId)
                    .eq(Segment::getState, SegmentStateType.RUNNING.toString())
            )) {
//            log.warn("[{}]号Agv正在忙碌 - segment......", agvNo);
            return false;
                return false;
            }
        }
        if (!this.judgeOnline(agvId)) {
//            log.warn("[{}]号Agv不是在线状态......", agvNo);
@@ -216,9 +218,11 @@
        if (null == agvDetail.getSoc() || agvDetail.getSoc() == 0) {
            return false;
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            log.warn("[{}]号Agv不是空闲状态......", agvNo);
            return false;
        if (idleStatus) {
            if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                log.warn("[{}]号Agv不是空闲状态......", agvNo);
                return false;
            }
        }
        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getSoc() < agvModel.getQuaBattery()) {