package com.zy.acs.manager.core.scheduler;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.common.enums.AgvStatusType;
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import com.zy.acs.manager.core.service.MainService;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.*;
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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.Date;
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import java.util.List;
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import java.util.Objects;
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/**
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* to judgement agv idle status when generate action !!!
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* Created by vincent on 2023/9/9
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*/
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@Slf4j
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@Component
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public class MaintainScheduler {
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@Autowired
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private AgvService agvService;
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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 MainService mainService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private SegmentService segmentService;
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@Scheduled(cron = "0/5 * * * * ? ")
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private synchronized void autoCharge(){
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
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for (Agv agv : agvList) {
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus()) {
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continue;
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}
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if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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continue;
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}
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if (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) {
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if (taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getAgvId, agv.getId())
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.and(i -> {
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// i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
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i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
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.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
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})) > 0) {
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continue;
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}
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if (segmentService.count(new LambdaQueryWrapper<Segment>()
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.eq(Segment::getAgvId, agv.getId())
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.and( i -> {
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// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
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i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
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})
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) > 0) {
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continue;
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}
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mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
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}
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}
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}
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// @Scheduled(cron = "0/30 * * * * ? ")
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@Scheduled(cron = "0 */2 * * * ? ")
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private void autoStandby(){
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// 1.agv充电到一定电压后，回到待机位
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// 2.agv没有任务时，回到待机位
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
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label: for (Agv agv : agvList) {
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getCode()) {
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continue;
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}
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List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
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.eq(FuncSta::getAgvId, agv.getId()).eq(FuncSta::getType, FuncStaType.STANDBY.toString()));
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for (FuncSta funcSta : funcStaList) {
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if (agvDetail.getRecentCode().equals(funcSta.getCode())) {
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continue label;
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}
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}
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if (agvDetail.getVol() <= agv.getChargeLine()) {
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continue;
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}
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if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
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continue;
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}
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}
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if (taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getAgvId, agv.getId())
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.and(i -> {
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i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
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.or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
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.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
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})) > 0) {
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continue;
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}
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mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_STANDBY, null);
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}
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}
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@Scheduled(cron = "0/5 * * * * ? ")
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private synchronized void releaseFuncSta(){
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List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getState, FuncStaStateType.OCCUPIED.toString()));
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for (FuncSta funcSta : funcStaList) {
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Agv agv = agvService.getById(funcSta.getAgvId());
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boolean beIdle = true;
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switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
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case CHARGE: // 充电
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for (AgvDetail agvDetail : agvDetailService.list(new LambdaQueryWrapper<AgvDetail>().eq(AgvDetail::getLastCode, funcSta.getCode()))) {
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if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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beIdle = false;
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break;
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}
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}
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if (taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
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.eq(Task::getDestCode, funcSta.getCode())
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.eq(Task::getAgvId, agv.getId())
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.and(i -> {
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i.eq(Task::getTaskSts, TaskStsType.INIT.val()).or()
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.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
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.eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
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.eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
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})) > 0) {
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beIdle = false;
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}
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break;
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case STANDBY: // 待机
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if (agvDetailService.count(new LambdaQueryWrapper<AgvDetail>().eq(AgvDetail::getCode, funcSta.getCode())) > 0) {
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beIdle = false;
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}
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if (taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
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.eq(Task::getDestCode, funcSta.getCode())
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.eq(Task::getAgvId, agv.getId())
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.and(i -> {
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i.eq(Task::getTaskSts, TaskStsType.INIT.val()).or()
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.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
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.eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
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.eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
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})) > 0) {
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beIdle = false;
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}
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break;
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default:
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break;
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}
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if (beIdle) {
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funcSta.setState(FuncStaStateType.IDLE.toString());
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funcSta.setUpdateTime(new Date());
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if (!funcStaService.updateById(funcSta)) {
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log.error("FuncSta [{}] 更新状态失败 ！！！", funcSta.getName());
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}
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}
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}
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}
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}
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