From c449e50c5643c3fdda0ed9bf66936c6285cc1314 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 07 十二月 2024 09:05:48 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 90 ++++++++++++++++++++++++++++++++++++--------
1 files changed, 73 insertions(+), 17 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 bf4fd1e..068c61b 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
@@ -4,15 +4,18 @@
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;
+import com.zy.acs.manager.common.domain.PageParam;
+import com.zy.acs.manager.common.domain.PageResult;
import com.zy.acs.manager.core.domain.VehicleDto;
+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.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
-import com.zy.acs.framework.common.Cools;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -42,6 +45,13 @@
private CodeService codeService;
@Autowired
private SegmentService segmentService;
+ @Autowired
+ private TaskService taskService;
+
+ @Override
+ public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
+ return new PageResult<>(this.baseMapper.selectPageRel(pageParam, pageParam.checkoutMap()), pageParam.getTotal());
+ }
@Override
public Agv selectByUuid(String uuid) {
@@ -58,22 +68,31 @@
@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 -> {
+ if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .and( i -> {
// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
- i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
- })
- ) > 0) {
+ i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
+ })
+ )) {
+ log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agv.getUuid());
return false;
}
+// if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+// .eq(Task::getAgvId, agvId)
+// .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
+// .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
+// )){
+// log.warn("[{}]鍙稟gv姝ｅ湪鍘诲厖鐢� - task......", agv.getUuid());
+// return false;
+// }
if (!this.judgeOnline(agv.getId())) {
log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agv.getUuid());
return false;
@@ -91,21 +110,28 @@
return false;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
- return false;
- }
- }
- if (support != null) {
- if (!support.execute(agvDetail)) {
+ if (agvDetail.getVol() < agvModel.getQuaBattery()) {
return false;
}
}
if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getPos() != 1) {
- log.warn("[{}]鍙稟gv璇风Щ鍔ㄥ埌瀹氫綅......", agv.getUuid());
+ log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
+ return false;
+ }
+ if (null == agvDetail.getRecentCode()) {
+ log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
return false;
}
}
+ // with battery
+ if (withBattery) {
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+ log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agv.getUuid());
+ return false;
+ }
+ }
+
return true;
}
@@ -134,4 +160,34 @@
return res;
}
+ @Override
+ public Integer getBackpack(Agv agv) {
+// if (null != agv.getStage()) {
+// return agv.getStage();
+// }
+ AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ assert null != agvModel;
+ 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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