#

luxiaotao1123

2024-11-19 e5b15215a032740e7bda86e96720f763b049ce17

 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;
@@ -113,11 +112,7 @@
        }
        // with battery
        if (withBattery) {
            if (agvDetail.getVol() < agv.getChargeLine()) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                return false;
            }
            if (agvDetail.getVol() < agvModel.getLowBattery()) {
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                return false;
            }
@@ -163,12 +158,17 @@

    @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;
            }