From c42a7c76e24940db9e81307dc67104d9068c3119 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期二, 07 四月 2026 15:04:21 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 26 +++++++++++++++++---------
1 files changed, 17 insertions(+), 9 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 fedc29c..35df23b 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
@@ -190,19 +190,21 @@
@Override
public Boolean judgeEnable(Long agvId) {
- return this.judgeEnable(agvId, false);
+ return this.judgeEnable(agvId, false, true);
}
@Override
- public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
+ public Boolean judgeEnable(Long agvId, Boolean isLowBattery, Boolean idleStatus) {
String agvNo = this.getAgvNo(agvId);
AgvModel agvModel = agvModelService.getByAgvId(agvId);
- if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getAgvId, agvId)
- .eq(Segment::getState, SegmentStateType.RUNNING.toString())
- )) {
+ if (idleStatus) {
+ if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getState, SegmentStateType.RUNNING.toString())
+ )) {
// log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agvNo);
- return false;
+ return false;
+ }
}
if (!this.judgeOnline(agvId)) {
// log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agvNo);
@@ -216,8 +218,14 @@
if (null == agvDetail.getSoc() || agvDetail.getSoc() == 0) {
return false;
}
- if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- log.warn("[{}]鍙稟gv涓嶆槸绌洪棽鐘舵��......", agvNo);
+ if (idleStatus) {
+ if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ log.warn("[{}]鍙稟gv涓嶆槸绌洪棽鐘舵��......", agvNo);
+ return false;
+ }
+ }
+ if (redis.getMap(RedisConstant.AGV_CHARGE_FLAG,agvDetail.getUuid()) != null) {
+ log.warn("[{}]鍙稟gv鍦╮edis瀛樺湪鍏呯數鏍囪瘑......", agvNo);
return false;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
--
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