#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

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

@@ -84,13 +84,12 @@
        if (null == destinationCode) {
            return;
        }
        if (mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, destinationCode.getData())) {
        if (mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, destinationCode.getData(), null)) {
            log.info(agv.getUuid() + "开始走行演示...");
        }
    }

    /**
     * buildMinorTask 没有设置lane，lane只需要关注起始点（走行只需要关注终点）
     * 4个地方调用了buildMinorTask，在什么时候、哪里设置task的lane
     * (
         * HandlerController, 手动  （手动是否需要判断lane）
@@ -99,8 +98,6 @@
         * TrafficService,    自动  （寻址时已经处理过 lane） ✔
     * )
     * 评估HandlerController没有调用buildMajorTask，手动创建task的可行性
     * patrolOfMove没有判断lane的容量
     * 抢占待机位
     * agv地图图标变化
     */
    public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {
@@ -109,7 +106,24 @@
        Code startCode = codeService.getById(agvDetail.getRecentCode());

        List<String> notInCodeList = new ArrayList<>();
        notInCodeList.add("00000151");
        notInCodeList.add("00000301");
        notInCodeList.add("00000302");
        notInCodeList.add("00000303");
        notInCodeList.add("00000351");
        notInCodeList.add("00000353");
        notInCodeList.add("00000401");
        notInCodeList.add("00000402");

        notInCodeList.add("00000311");
        notInCodeList.add("00000312");
        notInCodeList.add("00000313");
        notInCodeList.add("00000361");
        notInCodeList.add("00000363");
        notInCodeList.add("00000411");
        notInCodeList.add("00000412");

        notInCodeList.add("00000046");
        notInCodeList.add("00000047");
        List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));

        Collections.shuffle(list);