#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

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

@@ -13,7 +13,6 @@
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
@@ -46,6 +45,8 @@
    private CodeService codeService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private TaskService taskService;

    @Override
    public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
@@ -71,17 +72,17 @@
    }

    @Override
    public Boolean judgeEnable(Long agvId, Boolean withBattery) {
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
        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 (!this.judgeOnline(agv.getId())) {
@@ -101,7 +102,7 @@
            return false;
        }
        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
            if (agvDetail.getVol() < agvModel.getQuaBattery()) {
                return false;
            }
        }
@@ -110,14 +111,14 @@
                log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
                return false;
            }
        }
        // with battery
        if (withBattery) {
            if (agvDetail.getVol() < agv.getChargeLine()) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
            if (null == agvDetail.getRecentCode()) {
                log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
                return false;
            }
            if (agvDetail.getVol() < agvModel.getLowBattery()) {
        }
        // with battery
        if (isLowBattery) {
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                return false;
            }
@@ -153,9 +154,9 @@

    @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();
@@ -163,12 +164,17 @@

    @Override
    public Agv findByPosition(Long codeId) {
        List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>()
//                .eq(Agv::getStatus, StatusType.ENABLE.val)
        );
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail) {
                continue;
            }
            if (null == agvDetail.getRecentCode()) {
                continue;
            }
            if (agvDetail.getRecentCode().equals(codeId)) {
                return agv;
            }