#

luxiaotao1123

2024-11-04 b7cc572e1511119da0901d3b26fec74681c3d9c7

#

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

@@ -17,6 +17,7 @@
import java.util.Date;
import java.util.List;
import java.util.Objects;
import java.util.Optional;

/**
 * judge whether agv go to funcSta which be charging or standby
@@ -124,13 +125,16 @@
            )) {
                continue;
            }
            // the time between the latest task and now that be must more that 10 seconds
            // the time between the latest task and now that be must more that @{param} seconds
//            if (!Optional.ofNullable((Boolean) redis.getObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid())).orElse(false)) {
                Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
                if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
                    Task latestTask = taskService.findLatestTask(agv.getId(), null);
                    if (null != latestTask) {
                        long seconds = DateUtils.diffToSeconds(latestTask.getUpdateTime(), new Date());
                        long seconds = DateUtils.diffToSeconds(
                                Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
                                , new Date()
                        );
                        if (seconds < intervalOfAutoStandby) { continue; }
                    }
                }

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

@@ -218,6 +218,8 @@
                            availablePointOfTurn = currentNode;
                            availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                        } else {
                            actualLanesOfTurn = 0;
                        }
                    }
                }

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

@@ -54,7 +54,7 @@
        if (null == agvModel) {
            agvModel = agvModelService.getById(agv.getAgvModel());
        }
        return agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery();
        return agvDetail.getVol() < Math.min(agv.getChargeLine(), agvModel.getLowBattery());
    }

}