From 7c4d3d957c431aad12f90511770e2fe429bcd380 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 24 十二月 2024 16:38:25 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 73 ++++++++++++++++++++++++++++--------
1 files changed, 56 insertions(+), 17 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 804cd5b..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
@@ -4,7 +4,6 @@
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
-import com.zy.acs.common.utils.JudgeSupport;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.domain.BaseParam;
@@ -46,10 +45,12 @@
private CodeService codeService;
@Autowired
private SegmentService segmentService;
+ @Autowired
+ private TaskService taskService;
@Override
public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
- return new PageResult<AgvResult>(this.baseMapper.selectPageRel(pageParam, pageParam.checkoutMap()), pageParam.getTotal());
+ return new PageResult<>(this.baseMapper.selectPageRel(pageParam, pageParam.checkoutMap()), pageParam.getTotal());
}
@Override
@@ -67,20 +68,21 @@
@Override
public Boolean judgeEnable(Long agvId) {
- return this.judgeEnable(agvId, null);
+ return this.judgeEnable(agvId, false);
}
@Override
- public Boolean judgeEnable(Long agvId, JudgeSupport<AgvDetail> support) {
+ public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
Agv agv = this.getById(agvId);
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- if (segmentService.count(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getAgvId, agvId)
- .and( i -> {
+ 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) {
+ i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
+ })
+ )) {
+ log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agv.getUuid());
return false;
}
if (!this.judgeOnline(agv.getId())) {
@@ -100,21 +102,28 @@
return false;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
- return false;
- }
- }
- if (support != null) {
- if (!support.execute(agvDetail)) {
+ if (agvDetail.getVol() < agvModel.getQuaBattery()) {
return false;
}
}
if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getPos() != 1) {
- log.warn("[{}]鍙稟gv璇风Щ鍔ㄥ埌瀹氫綅......", agv.getUuid());
+ log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
+ return false;
+ }
+ if (null == agvDetail.getRecentCode()) {
+ log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
return false;
}
}
+ // 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;
+ }
+ }
+
return true;
}
@@ -143,4 +152,34 @@
return res;
}
+ @Override
+ public Integer getBackpack(Agv agv) {
+// if (null != agv.getStage()) {
+// return agv.getStage();
+// }
+ AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ assert null != agvModel;
+ return agvModel.getBackpack();
+ }
+
+ @Override
+ public Agv findByPosition(Long codeId) {
+ 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;
+ }
+ }
+ return null;
+ }
+
}
--
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