From ee5046d151a858339aa137790bc830efe7f55980 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期三, 18 六月 2025 15:13:14 +0800
Subject: [PATCH] 1

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java |   45 +++++++++++++++------------------------------
 1 files changed, 15 insertions(+), 30 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 2f8d57d..86fb4cc 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
@@ -4,6 +4,7 @@
 import com.zy.acs.common.utils.RedisSupport;
 import com.zy.acs.framework.common.Cools;
 import com.zy.acs.framework.common.R;
+import com.zy.acs.manager.core.constant.AgvAreaDispatcher;
 import com.zy.acs.manager.core.cache.CoreCache;
 import com.zy.acs.manager.core.domain.CodeStepDto;
 import com.zy.acs.manager.core.domain.type.JobType;
@@ -50,7 +51,7 @@
     }};
 
     private List<String> CONVEYOR_PICK_CODE_DATA_CACHE = new ArrayList<String>(){{
-        add("00000246");
+        add("00000146");
     }};
 
     @Autowired
@@ -124,7 +125,7 @@
             return;
         }
 
-        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
+        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null,false)) {
             log.info( "{}寮�濮嬩綔涓氭紨绀�...", agvNo);
 
             CoreCache.AGV_MOCK_STEP_CACHE.put(agvId, CodeStepDto.build(destinationCodeData, jobType));
@@ -179,7 +180,7 @@
         if (Cools.isEmpty(destinationCodeData)) {
             return;
         }
-        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
+        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null,false)) {
             log.info( "{}寮�濮嬭蛋琛屾紨绀�...", agvNo);
         }
     }
@@ -199,30 +200,14 @@
 
         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");
+        List<String> codeList = AgvAreaDispatcher.AGV_AREA.get(agvNo);
+        List<String> disableCodeList = AgvAreaDispatcher.AGV_DISABLE_AREA.get(agvNo);
+        if (!Cools.isEmpty(codeList)) {
+            Collections.shuffle(codeList);
+        }
 
-        notInCodeSet.add("00000311");
-        notInCodeSet.add("00000312");
-        notInCodeSet.add("00000313");
-        notInCodeSet.add("00000361");
-        notInCodeSet.add("00000363");
-        notInCodeSet.add("00000411");
-        notInCodeSet.add("00000412");
-
-        notInCodeSet.add("00000046");
-        notInCodeSet.add("00000047");
-
-        Collections.shuffle(CODE_DATA_CACHE);
-
-        for (String endCodeData : CODE_DATA_CACHE) {
-            if (notInCodeSet.contains(endCodeData)) { continue; }
+        for (String endCodeData : codeList) {
+            if (disableCodeList.contains(endCodeData)) { continue; }
             Code endCode = codeService.getCacheByData(endCodeData);
 
             // valid lane
@@ -237,7 +222,7 @@
             }
         }
 
-        return CODE_DATA_CACHE.stream().findFirst().orElse(null);
+        return codeList.stream().findFirst().orElse(null);
     }
 
     // ---------------------------------------------------------------------------
@@ -257,10 +242,10 @@
 
         Runnable patrolTask = () -> {
             try {
-//                executePatrolLogic(agvNo);
-                executeUShapeConveyor(agvNo);
+                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);
             }
         };
 

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