#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -9,6 +9,7 @@
import com.zy.acs.manager.common.domain.BaseParam;
import com.zy.acs.manager.common.domain.PageParam;
import com.zy.acs.manager.common.domain.PageResult;
import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.core.domain.VehicleDto;
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.Agv;
@@ -79,7 +80,12 @@
    @Override
    public Long getAgvId(String uuid) {
        if (Cools.isEmpty(uuid)) {
            return null;
            Agv agv = this.selectByUuid(uuid);
            if (agv != null) {
                AGV_ID_MAP.put(uuid, agv.getId());
            } else {
                return null;
            }
        }
        return AGV_ID_MAP.get(uuid);
    }
@@ -87,7 +93,12 @@
    @Override
    public String getAgvNo(Long agvId) {
        if (Cools.isEmpty(agvId)) {
            return null;
            Agv agv = this.getById(agvId);
            if (agv != null) {
                AGV_NO_MAP.put(agvId, agv.getUuid());
            } else {
                return null;
            }
        }
        return AGV_NO_MAP.get(agvId);
    }
@@ -106,11 +117,11 @@
                        .eq(Segment::getAgvId, agvId)
                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
        )) {
            log.warn("[{}]号Agv正在忙碌 - segment......", agvNo);
//            log.warn("[{}]号Agv正在忙碌 - segment......", agvNo);
            return false;
        }
        if (!this.judgeOnline(agvId)) {
            log.warn("[{}]号Agv不是在线状态......", agvNo);
//            log.warn("[{}]号Agv不是在线状态......", agvNo);
            return false;
        }
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
@@ -207,4 +218,15 @@
        return null;
    }

    @Override
    public int getBackpackRemainingCapacity(Long agvId) {
        Integer usedSlots = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
        if (null == usedSlots) {
            usedSlots = taskService.findTransportTasksCountByAgv(agvId);
        }

        AgvModel agvModel = agvModelService.getByAgvId(agvId);
        return Math.max(agvModel.getBackpack() - usedSlots, 0); // if less than zero, then return zero
    }

}