From 7f70cb15d035f0c233b9e62b9e43aa985317c908 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 10:22:45 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 46 ++++++++++++++++++++++++++++++++++------------
1 files changed, 34 insertions(+), 12 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 59e06fd..844be39 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;
@@ -14,6 +13,7 @@
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.SegmentStateType;
+import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
@@ -67,19 +67,19 @@
@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 withBattery) {
Agv agv = this.getById(agvId);
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
if (segmentService.count(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getAgvId, agvId)
- .and( i -> {
+ .eq(Segment::getAgvId, agvId)
+ .and( i -> {
// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
- i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
- })
+ i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
+ })
) > 0) {
log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 -segment......", agv.getUuid());
return false;
@@ -105,17 +105,24 @@
return false;
}
}
- if (support != null) {
- if (!support.execute(agvDetail)) {
- return false;
- }
- }
if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getPos() != 1) {
log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
return false;
}
}
+ // 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()) {
+ log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agv.getUuid());
+ return false;
+ }
+ }
+
return true;
}
@@ -154,4 +161,19 @@
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 (agvDetail.getRecentCode().equals(codeId)) {
+ return agv;
+ }
+ }
+ return null;
+ }
+
}
--
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