From 6828e790d254dd44162ff245025f7903def395be Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 13 十一月 2024 13:52:02 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java                  |    2 
 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java            |    2 
 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java   |    3 
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java          |  105 ++++++++++++++++++----------------
 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvDetailServiceImpl.java |    6 +
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java                |    2 
 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java       |    3 +
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java                   |    2 
 8 files changed, 68 insertions(+), 57 deletions(-)

diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
index 277b7de..1095e24 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
@@ -155,60 +155,65 @@
         for (FuncSta funcSta : funcStaList) {
             boolean beIdle = true;
             Agv agv = agvService.findByPosition(funcSta.getCode());
-            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
-            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+            if (null == agv) {
+                beIdle = false;
+            } else {
+                AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+                AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
 
-            switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
-                case CHARGE:
-                    if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
-                        beIdle = false;
-                    } else {
-                        Task latestTask = taskService.findLatestTask(agv.getId(), null);
-                        if (null != latestTask
-                                && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
-                                && latestTask.getDestCode().equals(funcSta.getCode())
-                        ) {
-                            // avoid the agv already be full battery but there was no task assign to it, so that not in charge status and battery had down
-                            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
-                                beIdle = false;
+                switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
+                    case CHARGE:
+                        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+                            beIdle = false;
+                        } else {
+                            Task latestTask = taskService.findLatestTask(agv.getId(), null);
+                            if (null != latestTask
+                                    && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
+                                    && latestTask.getDestCode().equals(funcSta.getCode())
+                            ) {
+                                // avoid the agv already be full battery but there was no task assign to it, so that not in charge status and battery had down
+                                if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+                                    beIdle = false;
+                                }
                             }
                         }
-                    }
-                    if (0 < taskService.count(new LambdaQueryWrapper<Task>()
-                            .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
-                            .eq(Task::getDestCode, funcSta.getCode())
-                            .and(i -> {
-                                 i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
-                                 .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
-                                 .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
-                            })
-                    )) {
-                        beIdle = false;
-                    }
-                    break;
-                case STANDBY:
-                    Task latestTask = taskService.findLatestTask(agv.getId(), null);
-                    if (null != latestTask
-                            && latestTask.getTaskType().equals(TaskTypeType.TO_STANDBY.val())
-                            && latestTask.getDestCode().equals(funcSta.getCode())
-                    ) {
-                        beIdle = false;
-                    }
-                    if (0 < taskService.count(new LambdaQueryWrapper<Task>()
-                            .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
-                            .eq(Task::getDestCode, funcSta.getCode())
-                            .and(i -> {
-                                i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
-                                .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
-                                .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
-                            })
-                    )) {
-                        beIdle = false;
-                    }
-                    break;
-                default:
-                    break;
+                        if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+                                .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
+                                .eq(Task::getDestCode, funcSta.getCode())
+                                .and(i -> {
+                                    i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
+                                            .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
+                                            .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
+                                })
+                        )) {
+                            beIdle = false;
+                        }
+                        break;
+                    case STANDBY:
+                        Task latestTask = taskService.findLatestTask(agv.getId(), null);
+                        if (null != latestTask
+                                && latestTask.getTaskType().equals(TaskTypeType.TO_STANDBY.val())
+                                && latestTask.getDestCode().equals(funcSta.getCode())
+                        ) {
+                            beIdle = false;
+                        }
+                        if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+                                .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
+                                .eq(Task::getDestCode, funcSta.getCode())
+                                .and(i -> {
+                                    i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
+                                            .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
+                                            .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
+                                })
+                        )) {
+                            beIdle = false;
+                        }
+                        break;
+                    default:
+                        break;
+                }
             }
+
             if (beIdle) {
                 funcSta.setState(FuncStaStateType.IDLE.toString());
                 funcSta.setUpdateTime(new Date());
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index 783bb5d..c5b0a72 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -921,7 +921,7 @@
                         break;
                     case TO_CHARGE:
                         // 妫�楠屾柟鍚�
-                        FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
+                        FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
                         Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                         if (!lastDirection.equals(chargeDirection)) {
                             actionList.add(new Action(
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index ddea4b8..52eac9f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -123,7 +123,7 @@
 
         double deltaX = x1 - x0;
         double deltaY = y1 - y0;
-        double angle = Math.atan2(deltaX, deltaY);
+        double angle = -Math.atan2(deltaX, deltaY);
         int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
         angle = Math.toDegrees(angle) + angleOffsetVal;
         angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝e��
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 f7fe7d8..f663212 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
@@ -87,7 +87,7 @@
     public Code getRandomCode(AgvDetail agvDetail) {
         Code startCode = codeService.getById(agvDetail.getRecentCode());
         List<String> notInCodeList = new ArrayList<>();
-        notInCodeList.add("00000061");
+        notInCodeList.add("00000151");
         List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));
         Collections.shuffle(list);
         for (Code endCode : list) {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java
index 4c98b4b..fba0cc0 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java
@@ -10,7 +10,7 @@
 
     FuncSta getByCodeAndType(Long codeId, String type);
 
-    FuncSta query(Long agvId, Long codeId, String type);
+    FuncSta query(Long codeId, String type);
 
     List<FuncSta> findInIdleStatus(FuncStaType type, Long agvId);
 
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvDetailServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvDetailServiceImpl.java
index fad3e00..96fdae3 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvDetailServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvDetailServiceImpl.java
@@ -54,7 +54,11 @@
         if (null == agvModel) {
             agvModel = agvModelService.getById(agv.getAgvModel());
         }
-        return agvDetail.getVol() < Math.min(agv.getChargeLine(), agvModel.getLowBattery());
+        if (null == agv.getChargeLine()) {
+            return agvDetail.getVol() < agvModel.getLowBattery();
+        } else {
+            return agvDetail.getVol() < Math.max(agv.getChargeLine(), agvModel.getLowBattery());
+        }
     }
 
 }
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..c8025bd 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
@@ -169,6 +169,9 @@
             if (null == agvDetail) {
                 continue;
             }
+            if (null == agvDetail.getRecentCode()) {
+                continue;
+            }
             if (agvDetail.getRecentCode().equals(codeId)) {
                 return agv;
             }
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
index d9358ea..70cd627 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
@@ -45,9 +45,8 @@
     }
 
     @Override
-    public FuncSta query(Long agvId, Long codeId, String type) {
+    public FuncSta query(Long codeId, String type) {
         List<FuncSta> list = this.list(new LambdaQueryWrapper<FuncSta>()
-                .eq(FuncSta::getAgvId, agvId)
                 .eq(FuncSta::getCode, codeId)
                 .eq(FuncSta::getType, type)
         );

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