From a4948137774a499da38fe184a6bbd0c57336e6f6 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 19 十一月 2024 09:48:07 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 25 ++++++++++++++++++++-----
1 files changed, 20 insertions(+), 5 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 336317f..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
@@ -13,6 +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;
@@ -112,11 +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;
}
@@ -160,4 +157,22 @@
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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