From b1dd4c6e284244bd7224e2c050a9670fbd9a38ea Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 19 一月 2026 16:21:49 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java |   98 +++++++++++++++----------------------------------
 1 files changed, 30 insertions(+), 68 deletions(-)

diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
index 13d4a97..1c9c942 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
@@ -41,7 +41,7 @@
 
     private ScheduledExecutorService scheduler = null;
 
-    private List<String> CODE_DATA_CACHE = new ArrayList<>();
+    private List<String> ALL_CODE_DATA_CACHE = new ArrayList<>();
 
     private List<String> LOC_CODE_DATA_CACHE = new ArrayList<>();
 
@@ -73,6 +73,24 @@
     private ConfigService configService;
     @Autowired
     private AgvModelService agvModelService;
+    @Autowired
+    private AgvAreaDispatcher agvAreaDispatcher;
+
+    @PostConstruct
+    public void init() {
+        int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+        if (count > 0) {
+            this.scheduler = Executors.newScheduledThreadPool(count);
+        }
+        // init all code data
+        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
+        this.ALL_CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+        // int all loc code data
+        List<Code> locCodeList = codeService.getAllLocCode();
+        this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+    }
 
     // pick & drop logic --------------------------------------------------
 
@@ -196,59 +214,19 @@
      * agv鍦板浘鍥炬爣鍙樺寲
      */
     public String getDestinationCode(String agvNo, AgvDetail agvDetail) {
-
         Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
-
         Set<String> notInCodeSet = new HashSet<>();
-        notInCodeSet.add("00000301");
-        notInCodeSet.add("00000302");
-        notInCodeSet.add("00000303");
-        notInCodeSet.add("00000351");
-        notInCodeSet.add("00000353");
-        notInCodeSet.add("00000401");
-        notInCodeSet.add("00000402");
+        Long agvId = agvDetail.getAgvId();
 
-        notInCodeSet.add("00000311");
-        notInCodeSet.add("00000312");
-        notInCodeSet.add("00000313");
-        notInCodeSet.add("00000361");
-        notInCodeSet.add("00000363");
-        notInCodeSet.add("00000411");
-        notInCodeSet.add("00000412");
+        List<String> codeList = null;
+        if (agvAreaDispatcher.isAgvExistsInAnyArea(agvId)) {
+            codeList = agvAreaDispatcher.getCodesByAgvId(agvId);
+        } else {
+            codeList = ALL_CODE_DATA_CACHE;
+        }
+        Collections.shuffle(codeList);
 
-        notInCodeSet.add("00000046");
-        notInCodeSet.add("00000047");
-
-        notInCodeSet.add("00000270");
-        notInCodeSet.add("00000265");
-        notInCodeSet.add("00000229");
-        notInCodeSet.add("00000188");
-        notInCodeSet.add("00000133");
-        notInCodeSet.add("00000134");
-        notInCodeSet.add("00000279");
-        notInCodeSet.add("00000278");
-        notInCodeSet.add("00000266");
-        notInCodeSet.add("00000267");
-        notInCodeSet.add("00000268");
-        notInCodeSet.add("00000269");
-        notInCodeSet.add("00000271");
-        notInCodeSet.add("00000272");
-        notInCodeSet.add("00000273");
-        notInCodeSet.add("00000274");
-        notInCodeSet.add("00000275");
-        notInCodeSet.add("00000276");
-        notInCodeSet.add("00000277");
-        notInCodeSet.add("00000285");
-        notInCodeSet.add("00000286");
-        notInCodeSet.add("00000280");
-        notInCodeSet.add("00000281");
-        notInCodeSet.add("00000282");
-        notInCodeSet.add("00000283");
-        notInCodeSet.add("00000284");
-
-        Collections.shuffle(CODE_DATA_CACHE);
-
-        for (String endCodeData : CODE_DATA_CACHE) {
+        for (String endCodeData : codeList) {
             if (notInCodeSet.contains(endCodeData)) { continue; }
             Code endCode = codeService.getCacheByData(endCodeData);
 
@@ -264,7 +242,7 @@
             }
         }
 
-        return CODE_DATA_CACHE.stream().findFirst().orElse(null);
+        return codeList.stream().findFirst().orElse(null);
     }
 
     // ---------------------------------------------------------------------------
@@ -287,7 +265,7 @@
                 executePatrolLogic(agvNo);
 //                executeUShapeConveyor(agvNo);
             } catch (Exception e) {
-                log.error("鎵цAGV{}璺戝簱浠诲姟鏃跺彂鐢熷紓甯�: {}", agvNo, e.getMessage());
+                log.error("鎵цAGV{}璺戝簱浠诲姟鏃跺彂鐢熷紓甯�", agvNo, e);
             }
         };
 
@@ -318,22 +296,6 @@
             log.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
             return R.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
         }
-    }
-
-    @PostConstruct
-    public void init() {
-        int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
-        if (count > 0) {
-            this.scheduler = Executors.newScheduledThreadPool(count);
-        }
-        // init all code data
-        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
-        this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
-
-        // int all loc code data
-        List<Code> locCodeList = codeService.getAllLocCode();
-        this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
-
     }
 
     @PreDestroy

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