From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java |   53 ++++++++++++++++++++++++++++++++++++++---------------
 1 files changed, 38 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 d30882b..1a08ec2 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
@@ -9,6 +9,7 @@
 import com.zy.acs.manager.common.domain.BaseParam;
 import com.zy.acs.manager.common.domain.PageParam;
 import com.zy.acs.manager.common.domain.PageResult;
+import com.zy.acs.manager.core.cache.CoreCache;
 import com.zy.acs.manager.core.domain.VehicleDto;
 import com.zy.acs.manager.manager.controller.result.AgvResult;
 import com.zy.acs.manager.manager.entity.Agv;
@@ -79,7 +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);
     }
@@ -87,7 +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);
     }
@@ -100,29 +111,29 @@
 
     @Override
     public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
-        Agv agv = this.getById(agvId);
-        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+        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......", agv.getUuid());
+//            log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agvNo);
             return false;
         }
-        if (!this.judgeOnline(agv.getId())) {
-            log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agv.getUuid());
+        if (!this.judgeOnline(agvId)) {
+//            log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agvNo);
             return false;
         }
-        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agv.getId());
+        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
         if (null == agvDetail) {
-            log.warn("[{}]鍙稟gv鏈敹鍒扮姸鎬佸寘......", agv.getUuid());
+            log.warn("[{}]鍙稟gv鏈敹鍒扮姸鎬佸寘......", agvNo);
             return false;
         }
         if (agvDetail.getVol() == 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��......", agv.getUuid());
+            log.warn("[{}]鍙稟gv涓嶆槸绌洪棽鐘舵��......", agvNo);
             return false;
         }
         if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -132,18 +143,19 @@
         }
         if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
             if (agvDetail.getPos() != 1) {
-                log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
+                log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agvNo);
                 return false;
             }
             if (null == agvDetail.getRecentCode()) {
-                log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
+                log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agvNo);
                 return false;
             }
         }
         // with battery
         if (isLowBattery) {
+            Agv agv = this.getById(agvId);
             if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
-                log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agv.getUuid());
+                log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agvNo);
                 return false;
             }
         }
@@ -170,7 +182,7 @@
             AgvDetail detail = agvDetailService.selectByAgvId(agv.getId());
             VehicleDto dto = new VehicleDto();
             dto.setVehicle(agv.getUuid());
-            dto.setPosCode(codeService.getById(detail.getRecentCode()).getData());
+            dto.setPosCode(codeService.getCacheById(detail.getRecentCode()).getData());
             res.add(dto);
         }
         return res;
@@ -181,7 +193,7 @@
 //        if (null != agv.getStage()) {
 //            return agv.getStage();
 //        }
-        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+        AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
         assert null != agvModel;
         return agvModel.getBackpack();
     }
@@ -206,4 +218,15 @@
         return null;
     }
 
+    @Override
+    public int getBackpackRemainingCapacity(Long agvId) {
+        Integer usedSlots = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
+        if (null == usedSlots) {
+            usedSlots = taskService.findTransportTasksCountByAgv(agvId);
+        }
+
+        AgvModel agvModel = agvModelService.getByAgvId(agvId);
+        return Math.max(agvModel.getBackpack() - usedSlots, 0); // if less than zero, then return zero
+    }
+
 }

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