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/manager/service/impl/AgvServiceImpl.java | 24 ++++++++++++++----------
1 files changed, 14 insertions(+), 10 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 fedc29c..4fb9bd3 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
@@ -190,19 +190,21 @@
@Override
public Boolean judgeEnable(Long agvId) {
- return this.judgeEnable(agvId, false);
+ return this.judgeEnable(agvId, false, true);
}
@Override
- public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
+ public Boolean judgeEnable(Long agvId, Boolean isLowBattery, Boolean idleStatus) {
String agvNo = this.getAgvNo(agvId);
AgvModel agvModel = agvModelService.getByAgvId(agvId);
- if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getAgvId, agvId)
- .eq(Segment::getState, SegmentStateType.RUNNING.toString())
- )) {
+ if (idleStatus) {
+ if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getState, SegmentStateType.RUNNING.toString())
+ )) {
// log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agvNo);
- return false;
+ return false;
+ }
}
if (!this.judgeOnline(agvId)) {
// log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agvNo);
@@ -216,9 +218,11 @@
if (null == agvDetail.getSoc() || agvDetail.getSoc() == 0) {
return false;
}
- if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- log.warn("[{}]鍙稟gv涓嶆槸绌洪棽鐘舵��......", agvNo);
- return false;
+ if (idleStatus) {
+ if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ log.warn("[{}]鍙稟gv涓嶆槸绌洪棽鐘舵��......", agvNo);
+ return false;
+ }
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
--
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