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luxiaotao1123

2024-12-09 5159a57904369185dfd06a5ee8ad90115d129848

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 version/ÁÏÏäAGV-RCS ͨÐÅЭÒé V0.1±¨Í·¼Ó³¤.xlsx

Binary files differ

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java

@@ -172,7 +172,7 @@

        // STOCK
        List<Loc> stockList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val()));
        if (Cools.isEmpty(stockList)) {
        if (Cools.isEmpty(stockList) || stockList.size() < agvModel.getBackpack()) {
            return;
        }
        Collections.shuffle(stockList);

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

@@ -87,7 +87,7 @@
    public synchronized Agv execute(Task task) {
        List<Agv> availableAgvList = getAvailableAgv();
        if (Cools.isEmpty(availableAgvList)) {
            log.warn("No available agv to assign the task[{}]", task.getSeqNum());
//            log.warn("No available agv to assign the task[{}]", task.getSeqNum());
            return null;
        }
        List<String> availableAgvNos = availableAgvList.stream().map(Agv::getUuid).distinct().collect(Collectors.toList());

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

@@ -250,7 +250,6 @@
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), true)) {
                return;
//                throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
            }
            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
                throw new CoolException("AGV[" + agv.getUuid() + "]分配任务失败，已存在执行任务...");

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

@@ -72,7 +72,7 @@
    }

    @Override
    public Boolean judgeEnable(Long agvId, Boolean withBattery) {
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
        Agv agv = this.getById(agvId);
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
        if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
@@ -85,14 +85,6 @@
            log.warn("[{}]号Agv正在忙碌 - segment......", agv.getUuid());
            return false;
        }
//        if (0 < taskService.count(new LambdaQueryWrapper<Task>()
//                .eq(Task::getAgvId, agvId)
//                .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
//                .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
//        )){
//            log.warn("[{}]号Agv正在去充电 - task......", agv.getUuid());
//            return false;
//        }
        if (!this.judgeOnline(agv.getId())) {
            log.warn("[{}]号Agv不是在线状态......", agv.getUuid());
            return false;
@@ -125,7 +117,7 @@
            }
        }
        // with battery
        if (withBattery) {
        if (isLowBattery) {
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                return false;