From 15547fda83db36d8498f7b0b509c41b44b840c4d Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 18 十二月 2025 15:20:46 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java |   68 +++++++++++++--------------------
 1 files changed, 27 insertions(+), 41 deletions(-)

diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
index 2f8d57d..f9a7752 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
@@ -50,7 +50,7 @@
     }};
 
     private List<String> CONVEYOR_PICK_CODE_DATA_CACHE = new ArrayList<String>(){{
-        add("00000246");
+        add("00000146");
     }};
 
     @Autowired
@@ -73,6 +73,24 @@
     private ConfigService configService;
     @Autowired
     private AgvModelService agvModelService;
+    @Autowired
+    private AgvAreaDispatcher agvAreaDispatcher;
+
+    @PostConstruct
+    public void init() {
+        int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+        if (count > 0) {
+            this.scheduler = Executors.newScheduledThreadPool(count);
+        }
+        // init all code data
+        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
+        this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+        // int all loc code data
+        List<Code> locCodeList = codeService.getAllLocCode();
+        this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+    }
 
     // pick & drop logic --------------------------------------------------
 
@@ -200,28 +218,12 @@
         Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
 
         Set<String> notInCodeSet = new HashSet<>();
-        notInCodeSet.add("00000301");
-        notInCodeSet.add("00000302");
-        notInCodeSet.add("00000303");
-        notInCodeSet.add("00000351");
-        notInCodeSet.add("00000353");
-        notInCodeSet.add("00000401");
-        notInCodeSet.add("00000402");
 
-        notInCodeSet.add("00000311");
-        notInCodeSet.add("00000312");
-        notInCodeSet.add("00000313");
-        notInCodeSet.add("00000361");
-        notInCodeSet.add("00000363");
-        notInCodeSet.add("00000411");
-        notInCodeSet.add("00000412");
+//        Collections.shuffle(CODE_DATA_CACHE);
+        List<String> codeList = agvAreaDispatcher.getCodesByAgvId(agvDetail.getAgvId());
+        Collections.shuffle(codeList);
 
-        notInCodeSet.add("00000046");
-        notInCodeSet.add("00000047");
-
-        Collections.shuffle(CODE_DATA_CACHE);
-
-        for (String endCodeData : CODE_DATA_CACHE) {
+        for (String endCodeData : codeList) {
             if (notInCodeSet.contains(endCodeData)) { continue; }
             Code endCode = codeService.getCacheByData(endCodeData);
 
@@ -237,7 +239,7 @@
             }
         }
 
-        return CODE_DATA_CACHE.stream().findFirst().orElse(null);
+        return codeList.stream().findFirst().orElse(null);
     }
 
     // ---------------------------------------------------------------------------
@@ -257,10 +259,10 @@
 
         Runnable patrolTask = () -> {
             try {
-//                executePatrolLogic(agvNo);
-                executeUShapeConveyor(agvNo);
+                executePatrolLogic(agvNo);
+//                executeUShapeConveyor(agvNo);
             } catch (Exception e) {
-                log.error("鎵цAGV{}璺戝簱浠诲姟鏃跺彂鐢熷紓甯�: {}", agvNo, e.getMessage());
+                log.error("鎵цAGV{}璺戝簱浠诲姟鏃跺彂鐢熷紓甯�", agvNo, e);
             }
         };
 
@@ -291,22 +293,6 @@
             log.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
             return R.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
         }
-    }
-
-    @PostConstruct
-    public void init() {
-        int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
-        if (count > 0) {
-            this.scheduler = Executors.newScheduledThreadPool(count);
-        }
-        // init all code data
-        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
-        this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
-
-        // int all loc code data
-        List<Code> locCodeList = codeService.getAllLocCode();
-        this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
-
     }
 
     @PreDestroy

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