From b7cc572e1511119da0901d3b26fec74681c3d9c7 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 21:19:46 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 2 ++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 8 ++++++--
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvDetailServiceImpl.java | 2 +-
3 files changed, 9 insertions(+), 3 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 a0769c3..239ff50 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
@@ -17,6 +17,7 @@
import java.util.Date;
import java.util.List;
import java.util.Objects;
+import java.util.Optional;
/**
* judge whether agv go to funcSta which be charging or standby
@@ -124,13 +125,16 @@
)) {
continue;
}
- // the time between the latest task and now that be must more that 10 seconds
+ // the time between the latest task and now that be must more that @{param} seconds
// if (!Optional.ofNullable((Boolean) redis.getObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid())).orElse(false)) {
Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
Task latestTask = taskService.findLatestTask(agv.getId(), null);
if (null != latestTask) {
- long seconds = DateUtils.diffToSeconds(latestTask.getUpdateTime(), new Date());
+ long seconds = DateUtils.diffToSeconds(
+ Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
+ , new Date()
+ );
if (seconds < intervalOfAutoStandby) { continue; }
}
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
index c7c6600..4e66ed4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
@@ -218,6 +218,8 @@
availablePointOfTurn = currentNode;
availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
.stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ } else {
+ actualLanesOfTurn = 0;
}
}
}
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 279d972..fad3e00 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 +54,7 @@
if (null == agvModel) {
agvModel = agvModelService.getById(agv.getAgvModel());
}
- return agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery();
+ return agvDetail.getVol() < Math.min(agv.getChargeLine(), agvModel.getLowBattery());
}
}
--
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