From 2bdbfd1ac24d4e9a87daf6fb8b99ec32264d5752 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 21 十二月 2024 11:25:27 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 38 ++++++++++++++++++++++----------------
1 files changed, 22 insertions(+), 16 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..1136ac6 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) {
@@ -71,17 +72,17 @@
}
@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 (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 (!this.judgeOnline(agv.getId())) {
@@ -101,7 +102,7 @@
return false;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
+ if (agvDetail.getVol() < agvModel.getQuaBattery()) {
return false;
}
}
@@ -110,14 +111,14 @@
log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
return false;
}
- }
- // with battery
- if (withBattery) {
- if (agvDetail.getVol() < agv.getChargeLine()) {
- log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agv.getUuid());
+ if (null == agvDetail.getRecentCode()) {
+ log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
return false;
}
- if (agvDetail.getVol() < agvModel.getLowBattery()) {
+ }
+ // with battery
+ if (isLowBattery) {
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agv.getUuid());
return false;
}
@@ -153,9 +154,9 @@
@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 +164,17 @@
@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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