From 504dff5ce99278563ec0a39a6dcb57e7144793d4 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 19 十一月 2024 09:25:17 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java         |   14 ++++++++++++++
 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java |    6 +-----
 2 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index a778a8a..f57cbd4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -515,7 +515,21 @@
         if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
             for (Jam jam : unfinishedOriginJamByCurrAgv) {
                 if (!Cools.isEmpty(jam.getJamPath())) {
+
                     List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
+
+                    Agv jamAgv = agvService.getById(jam.getJamAgv());
+                    List<String> jamDynamicNodes = mapDataDispatcher.queryCodeListFromDynamicNode(null, jamAgv.getUuid());
+                    // jamDynamicNodes has sorted
+                    String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);
+
+                    if (!Cools.isEmpty(firstCodeNode)) {
+                        int idx = list.indexOf(firstCodeNode);
+                        if (idx != -1) {
+                            list = new ArrayList<>(list.subList(idx, list.size()));
+                        }
+                    }
+
                     blackPathList.addAll(list);
                 }
             }
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 c8025bd..4f66dce 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
@@ -113,11 +113,7 @@
         }
         // 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;
             }

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