From 39efc87b3794f957aad73acf3a430b84e3a19b27 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期五, 30 一月 2026 16:32:20 +0800
Subject: [PATCH] Merge branch 'rcs_master' into ctu_conveyor
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 29 +++++++++++++----------------
1 files changed, 13 insertions(+), 16 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
index 5f1aa14..4763a54 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
+++ b/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());
@@ -222,21 +224,16 @@
// if (taskCnt == 0) {
// continue;
// }
- // in TransferStationHandler.hasDelayAtSta todo
- Travel runningTravel = travelService.findRunningTravel(agvId);
- if (null == runningTravel) {
- continue;
- }
- segmentService.hasRollerWaitingNow(runningTravel.getId(), agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA)
- Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
- if (null == currSeg) {
+ // in TransferStationHandler.hasDelayAtSta
+ Travel currTravelInRollerWaiting = travelService.findRollerWaitingTravel(agvId, currentCode.getId());
+ if (null == currTravelInRollerWaiting) {
continue;
}
// has enough backpack space to load
- Integer backpack = agvService.getBackpack(agvId);
- List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(null, agvId);
- if (usedBackpacks.size() >= backpack) {
+ Integer backpackCap = agvService.getBackpack(agvId);
+ List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currTravelInRollerWaiting.getId(), agvId);
+ if (usedBackpacks.size() >= backpackCap) {
continue;
}
--
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