#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

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

@@ -4,7 +4,6 @@
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.common.utils.JudgeSupport;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.domain.BaseParam;
@@ -46,10 +45,12 @@
    private CodeService codeService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private TaskService taskService;

    @Override
    public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
        return new PageResult<AgvResult>(this.baseMapper.selectPageRel(pageParam, pageParam.checkoutMap()), pageParam.getTotal());
        return new PageResult<>(this.baseMapper.selectPageRel(pageParam, pageParam.checkoutMap()), pageParam.getTotal());
    }

    @Override
@@ -67,20 +68,21 @@

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

    @Override
    public Boolean judgeEnable(Long agvId, JudgeSupport<AgvDetail> support) {
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
        Agv agv = this.getById(agvId);
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
        if (segmentService.count(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getAgvId, agvId)
                .and( i -> {
        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) {
                            i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
                        })
        )) {
            log.warn("[{}]号Agv正在忙碌 - segment......", agv.getUuid());
            return false;
        }
        if (!this.judgeOnline(agv.getId())) {
@@ -100,21 +102,28 @@
            return false;
        }
        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
                return false;
            }
        }
        if (support != null) {
            if (!support.execute(agvDetail)) {
            if (agvDetail.getVol() < agvModel.getQuaBattery()) {
                return false;
            }
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getPos() != 1) {
                log.warn("[{}]号Agv请移动到定位......", agv.getUuid());
                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 (isLowBattery) {
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                return false;
            }
        }

        return true;
    }

@@ -143,4 +152,34 @@
        return res;
    }

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

    @Override
    public Agv findByPosition(Long codeId) {
        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;
            }
        }
        return null;
    }

}