PathNotFoundException

servo/src/main/java/com/galaxis/rcs/plan/path/AStarPathPlanner.java

@@ -130,7 +130,10 @@ public class AStarPathPlanner {
                 // }
             }
         }
-        return Collections.emptyList();
+
+        // 如果找不到路径，抛出异常
+        throw new PathNotFoundException(startId, endId, startDirection, endDirection);
+        // return Collections.emptyList();
     }
 
     /**

servo/src/main/java/com/galaxis/rcs/plan/path/PathNotFoundException.java

@@ -0,0 +1,10 @@
+package com.galaxis.rcs.plan.path;
+
+import com.galaxis.rcs.common.enums.LCCDirection;
+
+public class PathNotFoundException extends RuntimeException {
+    public PathNotFoundException(String startId, String endId, LCCDirection startDir, LCCDirection endDir) {
+        super(String.format("Path not found from %s(%s) to %s(%s)",
+            startId, startDir, endId, endDir));
+    }
+}

servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java

@@ -132,13 +132,14 @@ public class LogisticsRuntime {
      * 获取当前空闲的执行器列表
      */
     public List<ExecutorItem> getFreeExecutorList() {
-        List<ExecutorItem> freeExecutorList = Lists.newArrayList();
-        for (ExecutorItem executorItem : executorItemMap.values()) {
-            if (executorItem.isFree()) {
-                freeExecutorList.add(executorItem);
-            }
-        }
-        return freeExecutorList;
+        return Lists.newArrayList();
+//        List<ExecutorItem> freeExecutorList = Lists.newArrayList();
+//        for (ExecutorItem executorItem : executorItemMap.values()) {
+//            if (executorItem.isFree()) {
+//                freeExecutorList.add(executorItem);
+//            }
+//        }
+//        return freeExecutorList;
     }
 
 

servo/src/main/java/com/yvan/workbench/controller/RcsController.java

@@ -294,6 +294,9 @@ public class RcsController {
         }
 
         LogisticsRuntime runtime = LogisticsRuntimeService.INSTANCE.getByProjectEnv(projectUUID, envId);
+        if (runtime == null) {
+            return R.fail("Project not running: " + projectUUID + ", envId=" + envId);
+        }
 
         ExecutorItem executorItem = runtime.executorItemMap.get(agvId);
         if (executorItem == null) {
@@ -311,6 +314,10 @@ public class RcsController {
             fromItem = runtime.getStaticItemById(Conv.asString(option.get("forceStartWayPointId")));
         } else {
             fromItem = runtime.getStaticItemByLogicXY(agv.logicX, agv.logicY);
+            if (agv.logicX == 0 && agv.logicY == 0) {
+                // 如果AGV的逻辑坐标为(0, 0)，则尝试从AGV的当前位置获取静态项
+                return R.fail("AGV position init failed");
+            }
         }
         if (option.get("forceStartDirection") != null) {
             fromDirection = LCCDirection.fromString(Conv.asString(option.get("forceStartDirection")));