From d0b25091a0c2dbef45299e152078f858d6d4039e Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期三, 28 一月 2026 15:07:36 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 44 +++++++++++++++++++++++++++++---------------
1 files changed, 29 insertions(+), 15 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 9f155e7..4fb9bd3 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
@@ -120,7 +120,7 @@
}
@Override
- public Agv modify(Agv agv, Long userId) {
+ public synchronized Agv modify(Agv agv, Long userId) {
if (agv == null || agv.getId() == null) {
throw new CoolException("Update Fail");
}
@@ -139,6 +139,9 @@
Agv oldAgv = this.getById(agv.getId());
String oldAgvNo = oldAgv.getUuid();
+ AgvModelServiceImpl.AGV_ID_MODEL_CACHE.remove(agv.getId());
+ AgvModelServiceImpl.AGV_NO_MODEL_CACHE.remove(oldAgvNo);
+
agv.setUpdateBy(userId);
agv.setUpdateTime(now);
if (!this.updateById(agv)) {
@@ -156,6 +159,10 @@
AGV_NO_MAP.remove(newAgv.getId());
AGV_NO_MAP.put(newAgv.getId(), newAgvNo);
}
+
+// AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+// AgvModelServiceImpl.AGV_ID_MODEL_CACHE.put(agv.getId(), agvModel);
+// AgvModelServiceImpl.AGV_NO_MODEL_CACHE.put(newAgvNo, agvModel);
return newAgv;
}
@@ -183,19 +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);
@@ -206,15 +215,17 @@
log.warn("[{}]鍙稟gv鏈敹鍒扮姸鎬佸寘......", agvNo);
return false;
}
- if (agvDetail.getVol() == 0) {
+ 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);
- return false;
+ 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 (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (agvDetail.getVol() < agvModel.getQuaBattery()) {
+ if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
return false;
}
}
@@ -266,11 +277,14 @@
}
@Override
- public Integer getBackpack(Agv agv) {
+ public Integer getBackpack(Long agvId) {
+ if (null == agvId) {
+ return 0;
+ }
// if (null != agv.getStage()) {
// return agv.getStage();
// }
- AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ AgvModel agvModel = agvModelService.getByAgvId(agvId);
assert null != agvModel;
return agvModel.getBackpack();
}
--
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