package com.zy.acs.manager.core.scheduler;
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import com.ghgande.j2mod.modbus.facade.ModbusTCPMaster;
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import com.zy.acs.charge.ChargeCoreService;
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import com.zy.acs.charge.ChargeStrategyFactory;
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import com.zy.acs.charge.constant.ChargerType;
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import com.zy.acs.common.constant.RedisConstant;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.manager.common.config.UplinkProperties;
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import com.zy.acs.manager.core.integrate.wms.FaultReportService;
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import com.zy.acs.manager.core.integrate.wms.TaskReportService;
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import com.zy.acs.manager.core.service.ChargeService;
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import com.zy.acs.manager.core.service.MainLockWrapService;
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import com.zy.acs.manager.manager.entity.AgvDetail;
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import com.zy.acs.manager.manager.entity.AgvModel;
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import com.zy.acs.manager.manager.entity.FuncSta;
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import com.zy.acs.manager.manager.enums.FuncStaType;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.scheduling.annotation.Scheduled;
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import org.springframework.stereotype.Component;
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import java.util.Set;
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@Slf4j
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@Component
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public class ChargeScheduler {
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private FuncStaService funcStaService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private ChargeService chargeService;
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@Autowired
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private ChargeStrategyFactory chargeStrategyFactory;
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/**
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* 调度对接充电桩
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* 状态1：开始充电
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* 状态2：充电中
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* 状态3：人为操作下发断开充电操作
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*/
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@Scheduled(cron = "0/5 * * * * ? ")
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private synchronized void startCharge() {
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Set<String> mapKeys = redis.getMapKeys(RedisConstant.AGV_CHARGE_FLAG);
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for (String key : mapKeys) {
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Integer status = redis.getMap(RedisConstant.AGV_CHARGE_FLAG, key);
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if (null == status) {
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continue;
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}
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AgvDetail agvDetail = agvDetailService.selectByAgvNo(key);
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if (agvDetail == null) {
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log.error("{} 号待充电小车不存在", key);
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continue;
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}
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if (agvDetail.getCode() == null) {
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log.error("{} 号待充电小车无地址码", key);
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continue;
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}
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FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
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ModbusTCPMaster modbusTCPMaster = chargeService.get(funcSta.getUuid());
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if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTCPMaster) {
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continue;
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}
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ChargeCoreService chargeCoreService = chargeStrategyFactory.getService(ChargerType.getByCode(funcSta.getProtocol()));
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int chargeMode = chargeCoreService.getChargeMode(modbusTCPMaster);
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if (chargeMode != 0) {
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log.info("{} 该充电机不是自动充电模式", chargeMode);
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continue;
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}
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switch (status) {
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case 1:
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// 后退信号消失，说明马达正在前进
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if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
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log.info("发送充电机充电指令：车号：{}", agvDetail.getAgvId$());
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chargeCoreService.startCharging(modbusTCPMaster);
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continue;
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}
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if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
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double current = chargeCoreService.getCurrent(modbusTCPMaster);
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double voltage = chargeCoreService.getVoltage(modbusTCPMaster);
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if (current > 0 && voltage > 0) {
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redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
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log.info("charge start:{}", agvDetail.getAgvId$());
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} else {
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log.info("read charge current and voltage: {},{}", current, voltage);
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}
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} else {
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log.info("前进到位信号失败：车号：{}", agvDetail.getAgvId$());
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}
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break;
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case 2:
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// 如果充电机完成充电会自动断开
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// 但充电标识哈在缓存中，那么需要清除缓存标记
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// 获取充电机编号且后退到位信号存在，那么说明机械臂已经伸回，那么就需要清除缓存
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if (chargeCoreService.getChargeId(modbusTCPMaster) > 0 && chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
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redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
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log.info("charge over By Auto:{}", agvDetail.getAgvId$());
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}else {
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AgvModel agvModel = agvModelService.getByAgvId(agvDetail.getAgvId());
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if (agvDetail.getSoc() >= agvModel.getQuaBattery()) {
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// 前进信号存在，说明机械臂未伸回
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if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
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log.info("发送充电机断充指令：车号：{}", agvDetail.getAgvId$());
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chargeCoreService.stopCharging(modbusTCPMaster);
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continue;
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}
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if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
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redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
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log.info("charge over:{}", agvDetail.getAgvId$());
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} else {
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log.info("后退到位信号失败：车号：{}", agvDetail.getAgvId$());
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}
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}
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}
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break;
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// case 3:
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// // 手动断开充电
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// // 前进信号存在，说明机械臂未伸回
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// if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
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// log.info("发送充电机手动断充指令：车号：{}", agvDetail.getAgvId$());
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// chargeCoreService.stopCharging(modbusTCPMaster);
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// continue;
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// }
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// if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
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// redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
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// log.info("charge over by handle:{}", agvDetail.getAgvId$());
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// } else {
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// log.info("手动后退到位信号失败：车号：{}", agvDetail.getAgvId$());
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// }
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// break;
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default:
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log.error("charge status error: {}", status);
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break;
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}
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}
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}
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}
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