From ecee3b092f07d5fa1e6f417cc19abb6a8a06f544 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期四, 27 三月 2025 13:29:39 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java | 58 ++++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 48 insertions(+), 10 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
index 60e3590..2e52f4c 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
@@ -73,8 +73,8 @@
if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) {
// if the type of this funSta is charge and the existing agv is in charge status, then that means this funSta is occupied
- if (null != agv) {
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ if (null != agv && !agv.getId().equals(agvId)) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getVol() < agvModel.getQuaBattery()) {
@@ -96,7 +96,7 @@
// if there is a running task whose destination is this funSta, then that means this funSta is occupied
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
+ .in(Task::getTaskType, TaskTypeType.TO_STANDBY.val(), TaskTypeType.TO_CHARGE.val())
.in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
.eq(Task::getDestCode, code)
)) {
@@ -110,7 +110,11 @@
if (null == agv) {
// if there is a running task whose destination is this funSta, then that means this funSta is occupied
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
+ .in(Task::getTaskType
+ , TaskTypeType.TO_STANDBY.val()
+ , TaskTypeType.TO_CHARGE.val()
+ , TaskTypeType.MOVE.val()
+ )
.in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
.eq(Task::getDestCode, code)
)) {
@@ -118,10 +122,13 @@
}
} else {
- // if there is an agv on the code of this funSta, should we let this agv leave?
- // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
+ if (!agv.getId().equals(agvId)) {
+ // if there is an agv on the code of this funSta, should we let this agv leave?
+ // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
// Task latestTaskByAgv = taskService.findLatestTask(existAgv.getId());
+ return false;
+ }
}
}
@@ -139,7 +146,7 @@
}
if (null != codeId) {
- Code currCode = codeService.getById(codeId);
+ Code currCode = codeService.getCacheById(codeId);
Double[] startPos = new Double[]{currCode.getX(), currCode.getY()};
// checkout one funSta which is the closest
@@ -148,13 +155,44 @@
funcStaList.sort(new Comparator<FuncSta>() {
@Override
public int compare(FuncSta o1, FuncSta o2) {
- Code o1Code = codeService.getById(o1.getCode());
+ Code o1Code = codeService.getCacheById(o1.getCode());
int o1Distance = CommonUtil.calcDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
- Code o2Code = codeService.getById(o2.getCode());
+ Code o2Code = codeService.getCacheById(o2.getCode());
int o2Distance = CommonUtil.calcDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
return o1Distance - o2Distance;
+ }
+ });
+
+ }
+
+ return funcStaList.stream().findFirst().orElse(null);
+ }
+
+ @Override
+ public FuncSta checkoutFurthestFunSta(Long codeId, List<FuncSta> funcStaList) {
+ if (Cools.isEmpty(funcStaList)) {
+ return null;
+ }
+
+ if (null != codeId) {
+ Code currCode = codeService.getCacheById(codeId);
+ Double[] startPos = new Double[]{currCode.getX(), currCode.getY()};
+
+ // checkout one funSta which is the closest
+
+ // compare => compare杩斿洖璐熸暟锛屽垯鎺掑湪闆嗗悎鍓嶉潰 锛坅sc锛�
+ funcStaList.sort(new Comparator<FuncSta>() {
+ @Override
+ public int compare(FuncSta o1, FuncSta o2) {
+ Code o1Code = codeService.getCacheById(o1.getCode());
+ int o1Distance = CommonUtil.calcDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
+
+ Code o2Code = codeService.getCacheById(o2.getCode());
+ int o2Distance = CommonUtil.calcDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
+
+ return o2Distance - o1Distance;
}
});
@@ -182,7 +220,7 @@
agv = agvService.findByPosition(funcSta.getCode());
if (null != agv) {
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
return false;
--
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