From 10f91cf8cc7f5ebe1cb4d9f06bd9cf4693277dc6 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 21 十一月 2024 09:17:45 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 36 +++++++++++++++++++++++-------------
1 files changed, 23 insertions(+), 13 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
index 844be39..545cfc7 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
@@ -13,7 +13,6 @@
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.SegmentStateType;
-import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
@@ -46,6 +45,8 @@
private CodeService codeService;
@Autowired
private SegmentService segmentService;
+ @Autowired
+ private TaskService taskService;
@Override
public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
@@ -74,16 +75,24 @@
public Boolean judgeEnable(Long agvId, Boolean withBattery) {
Agv agv = this.getById(agvId);
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- if (segmentService.count(new LambdaQueryWrapper<Segment>()
+ if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
.eq(Segment::getAgvId, agvId)
.and( i -> {
// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
})
- ) > 0) {
- log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 -segment......", agv.getUuid());
+ )) {
+ log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - 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("[{}]鍙稟gv姝ｅ湪鍘诲厖鐢� - task......", agv.getUuid());
+// return false;
+// }
if (!this.judgeOnline(agv.getId())) {
log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agv.getUuid());
return false;
@@ -113,11 +122,7 @@
}
// with battery
if (withBattery) {
- if (agvDetail.getVol() < agv.getChargeLine()) {
- log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agv.getUuid());
- return false;
- }
- if (agvDetail.getVol() < agvModel.getLowBattery()) {
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agv.getUuid());
return false;
}
@@ -153,9 +158,9 @@
@Override
public Integer getBackpack(Agv agv) {
- if (null != agv.getStage()) {
- return agv.getStage();
- }
+// if (null != agv.getStage()) {
+// return agv.getStage();
+// }
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
assert null != agvModel;
return agvModel.getBackpack();
@@ -163,12 +168,17 @@
@Override
public Agv findByPosition(Long codeId) {
- List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+ List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>()
+// .eq(Agv::getStatus, StatusType.ENABLE.val)
+ );
for (Agv agv : agvList) {
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (null == agvDetail) {
continue;
}
+ if (null == agvDetail.getRecentCode()) {
+ continue;
+ }
if (agvDetail.getRecentCode().equals(codeId)) {
return agv;
}
--
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