#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

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

@@ -72,7 +72,7 @@
    }

    @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 (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
@@ -85,14 +85,6 @@
            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;
@@ -110,7 +102,7 @@
            return false;
        }
        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
            if (agvDetail.getVol() < agvModel.getQuaBattery()) {
                return false;
            }
        }
@@ -119,9 +111,13 @@
                log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
                return false;
            }
            if (null == agvDetail.getRecentCode()) {
                log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
                return false;
            }
        }
        // with battery
        if (withBattery) {
        if (isLowBattery) {
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                return false;