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/FuncStaServiceImpl.java | 30 +++++++++++++++++++-----------
1 files changed, 19 insertions(+), 11 deletions(-)
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 95a5425..d9358ea 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
@@ -4,6 +4,7 @@
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.common.utils.CommonUtil;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.StatusType;
@@ -72,16 +73,27 @@
return false;
}
- Agv existAgv = agvService.findByPosition(code);
+ Agv agv = agvService.findByPosition(code);
if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) {
// if the type of this funSta is charge and the existing agv is in charge status, then that means this funSta is occupied
- if (null != existAgv) {
- AgvDetail agvDetail = agvDetailService.selectByAgvId(existAgv.getId());
- AgvModel agvModel = agvModelService.getById(existAgv.getAgvModel());
+ if (null != agv) {
+ AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getVol() < agvModel.getQuaBattery()) {
return 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)) {
+ return false;
+ }
}
}
}
@@ -99,7 +111,7 @@
if (funcSta.getType().equals(FuncStaType.STANDBY.toString())) {
- if (null == existAgv) {
+ if (null == agv) {
// if there is a running task whose destination is this funSta, then that means this funSta is occupied
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
.eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
@@ -141,10 +153,10 @@
@Override
public int compare(FuncSta o1, FuncSta o2) {
Code o1Code = codeService.getById(o1.getCode());
- int o1Distance = calcPositionDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
+ int o1Distance = CommonUtil.calcDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
Code o2Code = codeService.getById(o2.getCode());
- int o2Distance = calcPositionDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
+ int o2Distance = CommonUtil.calcDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
return o1Distance - o2Distance;
}
@@ -153,10 +165,6 @@
}
return funcStaList.stream().findFirst().orElse(null);
- }
-
- private int calcPositionDistance(Double[] from, Double[] to) {
- return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1]));
}
}
--
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