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/manager/service/impl/AgvServiceImpl.java | 46 +++++++++++++++++++++++++++++++++++-----------
1 files changed, 35 insertions(+), 11 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 ef2bd79..e153887 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
@@ -80,7 +80,12 @@
@Override
public Long getAgvId(String uuid) {
if (Cools.isEmpty(uuid)) {
- return null;
+ Agv agv = this.selectByUuid(uuid);
+ if (agv != null) {
+ AGV_ID_MAP.put(uuid, agv.getId());
+ } else {
+ return null;
+ }
}
return AGV_ID_MAP.get(uuid);
}
@@ -88,7 +93,12 @@
@Override
public String getAgvNo(Long agvId) {
if (Cools.isEmpty(agvId)) {
- return null;
+ Agv agv = this.getById(agvId);
+ if (agv != null) {
+ AGV_NO_MAP.put(agvId, agv.getUuid());
+ } else {
+ return null;
+ }
}
return AGV_NO_MAP.get(agvId);
}
@@ -96,22 +106,29 @@
@Override
public Boolean judgeEnable(Long agvId) {
- return this.judgeEnable(agvId, false);
+ return this.judgeEnable(agvId, false,false);
}
+ /**
+ * 鍒ゆ柇AGV鏄惁鍙敤
+ * @param agvId
+ * @param isLowBattery 浣庣數閲忓垽鏂�
+ * @param force 鏄惁寮哄埗鎿嶄綔
+ * @return
+ */
@Override
- public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
+ public Boolean judgeEnable(Long agvId, Boolean isLowBattery, Boolean force) {
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())
)) {
- log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agvNo);
+// log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agvNo);
return false;
}
if (!this.judgeOnline(agvId)) {
- log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agvNo);
+// log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agvNo);
return false;
}
AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
@@ -127,8 +144,14 @@
return false;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (agvDetail.getVol() < agvModel.getQuaBattery()) {
- return false;
+ if (force){
+ if (agvDetail.getVol() < agvModel.getLowBattery()) {
+ return false;
+ }
+ }else {
+ if (agvDetail.getVol() < agvModel.getQuaBattery()) {
+ return false;
+ }
}
}
if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -152,6 +175,8 @@
return true;
}
+
+
@Override
public Boolean judgeOnline(Long agvId) {
@@ -210,9 +235,8 @@
@Override
public int getBackpackRemainingCapacity(Long agvId) {
- int usedSlots = 0;
- Integer backpackCache = CoreCache.AGV_BACKPACK_CACHE.get(agvId);
- if (null != backpackCache) {
+ Integer usedSlots = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
+ if (null == usedSlots) {
usedSlots = taskService.findTransportTasksCountByAgv(agvId);
}
--
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