#

vincentlu

2025-01-10 f2631e786cc1c939e0a0698eadee76fd3d9a1fa9

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

@@ -3,17 +3,12 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.R;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.TaskService;
import com.zy.acs.manager.manager.enums.TravelStateType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -55,7 +50,7 @@
    @Autowired
    private MapService mapService;
    @Autowired
    private LaneService laneService;
    private TravelService travelService;
    @Autowired
    private AllocateService allocateService;
    @Autowired
@@ -68,12 +63,17 @@
    private void patrolOfMove(String agvNo) {
        Long agvId = agvService.getAgvId(agvNo);
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
        if (taskService.count(new LambdaQueryWrapper<Task>()
                .eq(Task::getAgvId, agvId)
                .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
                ) > 0) {
        if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
                .eq(Travel::getAgvId, agvId)
                .eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
            return;
        }
//        if (taskService.count(new LambdaQueryWrapper<Task>()
//                .eq(Task::getAgvId, agvId)
//                .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
//                ) > 0) {
//            return;
//        }
        if (!agvService.judgeEnable(agvId)) {
            return;
        }