1

zhang

2 天以前 2a6e27f1c0064690d6fc6ab137d64c02fc0742da

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -134,10 +134,12 @@
            log.info(agv.getUuid() + "号AGV不可用，已经存在进行中的任务...");
            return R.error();
        }
        if (!agvService.judgeEnable(agv.getId())) {
        // zhangc 在用户手动控制时，需要用户主观判断，所以小车只要高于低电量阈值就可以手动控制，所以注释
        if (!agvService.judgeEnable(agv.getId(),true,true)) {
            log.info(agv.getUuid() + "号AGV不可用，任务无法计算...");
            return R.error();
        }


        // generate
        Loc oriLoc = null;
@@ -157,13 +159,13 @@
                if (null == endCode) {
                    return R.error();
                }
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null, true)) {
                    return R.error();
                }
                break;
            case TO_CHARGE:
            case TO_STANDBY:
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null, true)) {
                    return R.error();
                }
                break;