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.ghgande.j2mod.modbus.facade.ModbusTCPMaster;
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import com.zy.acs.charge.ChargeCoreService;
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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.framework.common.DateUtils;
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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.*;
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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.time.Instant;
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import java.time.ZoneId;
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import java.util.Date;
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import java.util.List;
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import java.util.Optional;
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import java.util.Set;
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/**
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* judge whether agv go to funcSta which be charging or standby
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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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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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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 UplinkProperties uplinkProperties;
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@Autowired
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private MainLockWrapService mainLockWrapService;
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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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@Autowired
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private TaskReportService taskReportService;
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@Autowired
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private VehFaultRecService vehFaultRecService;
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@Autowired
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private FaultReportService faultReportService;
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@Autowired
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private ChargeService chargeService;
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@Autowired
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private ChargeCoreService chargeCoreService;
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@Scheduled(cron = "0/5 * * * * ? ")
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private synchronized void autoCharge() {
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if (!configService.getVal("TaskAssignMode", Boolean.class)) {
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return;
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}
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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.getByAgvId(agv.getId());
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if (null == agvDetail || null == agvDetail.getSoc() || 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 (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
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if (0 < 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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})
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)) {
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continue;
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}
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if (0 < 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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)) {
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continue;
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}
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mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_CHARGE, null, null);
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}
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}
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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// @Scheduled(cron = "0 */2 * * * ? ")
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private synchronized void autoStandby() {
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if (!configService.getVal("TaskAssignMode", Boolean.class)) {
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return;
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}
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if (!configService.getVal("automaticStandbyPosition", Boolean.class)) {
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return;
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}
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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.getByAgvId(agv.getId());
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if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
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continue;
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}
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// low battery status, that need to go to charge
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// if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
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// continue;
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// }
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// 判读是否可以自动断开充电（即充电过程中不能接受任务），跳过
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if (!agvService.judgeAutoStopCharge(agvModel, agvDetail, agv)) {
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continue;
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}
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// is charging ?
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if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
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continue;
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}
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}
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// already on standby code ?
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if (0 < funcStaService.count(new LambdaQueryWrapper<FuncSta>()
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.eq(FuncSta::getType, FuncStaType.STANDBY.toString())
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.eq(FuncSta::getCode, agvDetail.getRecentCode())
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)) {
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continue;
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}
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// has running tasks ?
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if (0 < 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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})
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)) {
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continue;
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}
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// the time between the latest task and now that be must more that @{param} seconds
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// if (!Optional.ofNullable((Boolean) redis.getObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid())).orElse(false)) {
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Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
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if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
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Task latestTask = taskService.findLatestTask(agv.getId(), null);
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if (null != latestTask) {
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long seconds = DateUtils.diffToSeconds(
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Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
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, new Date()
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);
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if (seconds < intervalOfAutoStandby) {
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continue;
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}
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}
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} else {
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continue;
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}
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// }
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mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_STANDBY, null, null);
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}
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}
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@Scheduled(cron = "0/3 * * * * ? ")
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private synchronized void reportTaskToUplink() {
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if (!uplinkProperties.getEnabled()) {
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return;
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}
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List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
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.in(Task::getUplinkSts, TaskUplinkStateType.PENDING.toString(), TaskUplinkStateType.FAILED.toString())
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.eq(Task::getTaskSts, TaskStsType.COMPLETE.val())
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.isNotNull(Task::getBusId)
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);
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if (Cools.isEmpty(taskList)) {
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return;
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}
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for (Task task : taskList) {
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boolean finished = taskReportService.reportFinished(task);
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if (finished) {
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task.setUplinkSts(TaskUplinkStateType.SUCCESS.toString());
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} else {
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log.error("failed to report task to uplink: {}", task.getSeqNum());
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task.setUplinkSts(TaskUplinkStateType.FAILED.toString());
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}
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taskService.updateById(task);
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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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boolean beIdle = funcStaService.isCanBeIdle(funcSta);
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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 [{}] failed to be idle ！！！", funcSta.getName());
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}
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}
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}
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}
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@Scheduled(cron = "0/3 * * * * ? ")
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private synchronized void reportFault() {
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String reportFaultUrl = configService.getVal("reportFaultUrl", String.class);
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if (Cools.isEmpty(reportFaultUrl)) {
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return;
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}
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List<VehFaultRec> vehFaultRecList = vehFaultRecService.list((new LambdaQueryWrapper<VehFaultRec>().eq(VehFaultRec::getState, VehFaultRecStateType.PENDING).ge(VehFaultRec::getHappenTime, Instant.now().minusSeconds(180).atZone(ZoneId.systemDefault()).toLocalDateTime())));
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if (Cools.isEmpty(vehFaultRecList)) {
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return;
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}
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for (VehFaultRec vehFaultRec : vehFaultRecList) {
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boolean finished = faultReportService.reportFinished(vehFaultRec, reportFaultUrl);
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if (finished) {
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vehFaultRec.setState(VehFaultRecStateType.REPORT_SUCCESS.name());
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} else {
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log.error("failed to report vehFaultRec to uplink");
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vehFaultRec.setState(VehFaultRecStateType.REPORT_FAILED.name());
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}
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vehFaultRecService.updateById(vehFaultRec);
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}
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}
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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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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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