From e7cc0981a18fa322642dadddf7043623c83d676f Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 07 一月 2025 14:43:35 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java | 46 +++++++++++++++++++++++++++++-----------------
1 files changed, 29 insertions(+), 17 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 2dc8122..bbc1028 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
@@ -34,9 +34,9 @@
@Service
public class PatrolService {
- private static final int SCHEDULE_TIME_INTERVAL = 5;
+ private static final int SCHEDULE_TIME_INTERVAL = 100;
- private static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();
+ public static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@@ -66,31 +66,28 @@
}
private void patrolOfMove(String agvNo) {
- Agv agv = agvService.selectByUuid(agvNo);
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ Long agvId = agvService.getAgvId(agvNo);
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
if (taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getAgvId, agv.getId())
- .and(i -> {
- i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
- .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
- .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
- })) > 0) {
+ .eq(Task::getAgvId, agvId)
+ .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
+ ) > 0) {
return;
}
- if (!agvService.judgeEnable(agv.getId())) {
+ if (!agvService.judgeEnable(agvId)) {
return;
}
+ Agv agv = agvService.getById(agvId);
Code destinationCode = this.getDestinationCode(agv, agvDetail);
if (null == destinationCode) {
return;
}
- if (mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, destinationCode.getData())) {
+ if (mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, destinationCode.getData(), null)) {
log.info(agv.getUuid() + "寮�濮嬭蛋琛屾紨绀�...");
}
}
/**
- * buildMinorTask 娌℃湁璁剧疆lane锛宭ane鍙渶瑕佸叧娉ㄨ捣濮嬬偣锛堣蛋琛屽彧闇�瑕佸叧娉ㄧ粓鐐癸級
* 4涓湴鏂硅皟鐢ㄤ簡buildMinorTask锛屽湪浠�涔堟椂鍊欍�佸摢閲岃缃畉ask鐨刲ane
* (
* HandlerController, 鎵嬪姩 锛堟墜鍔ㄦ槸鍚﹂渶瑕佸垽鏂璴ane锛�
@@ -99,8 +96,6 @@
* TrafficService, 鑷姩 锛堝鍧�鏃跺凡缁忓鐞嗚繃 lane锛� 鉁�
* )
* 璇勪及HandlerController娌℃湁璋冪敤buildMajorTask锛屾墜鍔ㄥ垱寤簍ask鐨勫彲琛屾��
- * patrolOfMove娌℃湁鍒ゆ柇lane鐨勫閲�
- * 鎶㈠崰寰呮満浣�
* agv鍦板浘鍥炬爣鍙樺寲
*/
public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {
@@ -109,7 +104,24 @@
Code startCode = codeService.getById(agvDetail.getRecentCode());
List<String> notInCodeList = new ArrayList<>();
- notInCodeList.add("00000151");
+ notInCodeList.add("00000301");
+ notInCodeList.add("00000302");
+ notInCodeList.add("00000303");
+ notInCodeList.add("00000351");
+ notInCodeList.add("00000353");
+ notInCodeList.add("00000401");
+ notInCodeList.add("00000402");
+
+ notInCodeList.add("00000311");
+ notInCodeList.add("00000312");
+ notInCodeList.add("00000313");
+ notInCodeList.add("00000361");
+ notInCodeList.add("00000363");
+ notInCodeList.add("00000411");
+ notInCodeList.add("00000412");
+
+ notInCodeList.add("00000046");
+ notInCodeList.add("00000047");
List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));
Collections.shuffle(list);
@@ -155,7 +167,7 @@
}
};
- ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.SECONDS);
+ ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.MILLISECONDS);
AGV_PATROL_MAP.put(agvNo, scheduledFuture);
log.info("宸插惎鍔ˋGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
--
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