package com.zy.acs.manager.manager.service.impl;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
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import com.zy.acs.common.constant.RedisConstant;
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import com.zy.acs.common.enums.AgvStatusType;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.manager.common.domain.BaseParam;
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import com.zy.acs.manager.common.domain.PageParam;
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import com.zy.acs.manager.common.domain.PageResult;
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import com.zy.acs.manager.core.domain.VehicleDto;
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import com.zy.acs.manager.manager.controller.result.AgvResult;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.SegmentStateType;
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import com.zy.acs.manager.manager.mapper.AgvMapper;
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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.stereotype.Service;
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import java.util.ArrayList;
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import java.util.List;
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/**
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* 字典数据Service实现
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*
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* @author vincent
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* @since 2020-03-14 11:29:04
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*/
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@Slf4j
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@Service
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public class AgvServiceImpl extends ServiceImpl<AgvMapper, Agv> implements AgvService {
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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 AgvModelService agvModelService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private SegmentService segmentService;
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@Autowired
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private TaskService taskService;
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@Override
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public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
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return new PageResult<>(this.baseMapper.selectPageRel(pageParam, pageParam.checkoutMap()), pageParam.getTotal());
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}
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@Override
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public Agv selectByUuid(String uuid) {
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return this.getOne(new LambdaQueryWrapper<Agv>().eq(Agv::getUuid, uuid));
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}
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@Override
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public Agv queryIdle(Task task) {
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if (Cools.isEmpty(task)) {
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return null;
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}
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return null;
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}
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@Override
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public Boolean judgeEnable(Long agvId) {
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return this.judgeEnable(agvId, false);
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}
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@Override
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public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
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Agv agv = this.getById(agvId);
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AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
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.eq(Segment::getAgvId, agvId)
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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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)) {
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log.warn("[{}]号Agv正在忙碌 - segment......", agv.getUuid());
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return false;
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}
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if (!this.judgeOnline(agv.getId())) {
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log.warn("[{}]号Agv不是在线状态......", agv.getUuid());
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return false;
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}
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail) {
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log.warn("[{}]号Agv未收到状态包......", agv.getUuid());
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return false;
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}
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if (agvDetail.getVol() == 0) {
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return false;
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}
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if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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log.warn("[{}]号Agv不是空闲状态......", agv.getUuid());
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return false;
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}
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if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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if (agvDetail.getVol() < agvModel.getQuaBattery()) {
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return false;
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}
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}
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if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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if (agvDetail.getPos() != 1) {
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log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
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return false;
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}
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if (null == agvDetail.getRecentCode()) {
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log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
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return false;
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}
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}
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// with battery
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if (isLowBattery) {
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if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
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log.warn("[{}]号Agv电量不足......", agv.getUuid());
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return false;
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}
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}
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return true;
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}
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@Override
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public Boolean judgeOnline(Long agvId) {
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Agv agv = this.getById(agvId);
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return redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agv.getUuid()) != null;
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}
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@Override
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public List<VehicleDto> getVehicleDtoList(List<String> noIncluded) {
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List<VehicleDto> res = new ArrayList<>();
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List<Agv> list = this.list(new LambdaQueryWrapper<Agv>());
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for (Agv agv : list) {
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if (!Cools.isEmpty(noIncluded)) {
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if (noIncluded.contains(agv.getUuid())) {
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continue;
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}
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}
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AgvDetail detail = agvDetailService.selectByAgvId(agv.getId());
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VehicleDto dto = new VehicleDto();
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dto.setVehicle(agv.getUuid());
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dto.setPosCode(codeService.getById(detail.getRecentCode()).getData());
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res.add(dto);
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}
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return res;
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}
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@Override
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public Integer getBackpack(Agv agv) {
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// if (null != agv.getStage()) {
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// return agv.getStage();
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// }
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AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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assert null != agvModel;
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return agvModel.getBackpack();
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}
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@Override
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public Agv findByPosition(Long codeId) {
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List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>()
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// .eq(Agv::getStatus, StatusType.ENABLE.val)
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);
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for (Agv agv : agvList) {
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail) {
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continue;
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}
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if (null == agvDetail.getRecentCode()) {
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continue;
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}
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if (agvDetail.getRecentCode().equals(codeId)) {
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return agv;
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}
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}
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return null;
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}
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}
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