#

luxiaotao1123

2026-01-23 73121ec6ec5219dcd8f2c3c5271e87d51bad4420

#

 zy-acs-flow/src/map/tool.js

@@ -856,7 +856,7 @@
        if (backpackCount !== prevBackpackCount || battery !== prevBattery) {
            const agvStatusMode = getAgvStatusMode(backpackCount, battery);
            const agvTexture = generateAgvSpriteTexture(agvStatusMode);
            agvSprite.texture = PIXI.Texture.from(agvTexture, { resourceOptions: { scale: 1 } });
            agvSprite.texture = PIXI.Texture.from(agvTexture, { resourceOptions: { scale: 1 } }); // todo Uncaught TypeError: Cannot read properties of undefined (reading '_pixiId')
            // update backpackCount and battery
            agvSprite.data.backpackCount = backpackCount;
            agvSprite.data.battery = battery;

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

@@ -64,7 +64,6 @@
        List<String> result = new ArrayList<>();
        for (Agv agv : agvList) {
            if (!hasRunning) {
                // 1. without running tasks
                if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                        .eq(Task::getAgvId, agv.getId())
                        .and(i -> i
@@ -75,10 +74,13 @@
                )) {
                    continue;
                }
            }
            // 2. in idle status
            if (!agvService.judgeEnable(agv.getId(), true)) {
                continue;
                if (!agvService.judgeEnable(agv.getId(), true, true)) {
                    continue;
                }
            } else {
                if (!agvService.judgeEnable(agv.getId(), true, false)) {
                    continue;
                }
            }

            result.add(agv.getUuid());

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

@@ -486,7 +486,7 @@
        try {
            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), false)) {
            if (!agvService.judgeEnable(agv.getId())) {
                return;
            }
            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
@@ -1863,7 +1863,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                log.info("AGV[{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                log.info("AGV [{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            case DEST_STA:
@@ -1879,11 +1879,11 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                log.info("AGV[{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                log.info("AGV [{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            default:
                                log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                log.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                break;
                        }
                    }

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java

@@ -32,7 +32,7 @@

    Boolean judgeEnable(Long agvId);

    Boolean judgeEnable(Long agvId, Boolean withBattery);
    Boolean judgeEnable(Long agvId, Boolean withBattery, Boolean idleStatus);

    Boolean judgeOnline(Long agvId);


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

@@ -190,19 +190,21 @@

    @Override
    public Boolean judgeEnable(Long agvId) {
        return this.judgeEnable(agvId, false);
        return this.judgeEnable(agvId, false, true);
    }

    @Override
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery, Boolean idleStatus) {
        String agvNo = this.getAgvNo(agvId);
        AgvModel agvModel = agvModelService.getByAgvId(agvId);
        if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getAgvId, agvId)
                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
        )) {
        if (idleStatus) {
            if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                    .eq(Segment::getAgvId, agvId)
                    .eq(Segment::getState, SegmentStateType.RUNNING.toString())
            )) {
//            log.warn("[{}]号Agv正在忙碌 - segment......", agvNo);
            return false;
                return false;
            }
        }
        if (!this.judgeOnline(agvId)) {
//            log.warn("[{}]号Agv不是在线状态......", agvNo);
@@ -216,9 +218,11 @@
        if (null == agvDetail.getSoc() || agvDetail.getSoc() == 0) {
            return false;
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            log.warn("[{}]号Agv不是空闲状态......", agvNo);
            return false;
        if (idleStatus) {
            if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                log.warn("[{}]号Agv不是空闲状态......", agvNo);
                return false;
            }
        }
        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getSoc() < agvModel.getQuaBattery()) {