#

vincentlu

2025-03-18 4c9169967a879b54c04b0754ab9830a5a6baa708

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java

@@ -2,12 +2,12 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaStateType;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -17,15 +17,17 @@

import java.util.Date;
import java.util.List;
import java.util.Objects;
import java.util.Optional;

/**
 * to judgement agv idle status when generate action !!!
 * judge whether agv go to funcSta which be charging or standby
 * Created by vincent on 2023/9/9
 */
@Slf4j
@Component
public class MaintainScheduler {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private AgvService agvService;
@@ -36,73 +38,113 @@
    @Autowired
    private MainService mainService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private SegmentService segmentService;

    @Scheduled(cron = "0/5 * * * * ? ")
    private synchronized void autoCharge(){
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus()) {
                continue;
            }
            if (agvDetail.getVol() <= agv.getChargeLine() && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                if (taskService.count(new LambdaQueryWrapper<Task>()
            if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                continue;
            }
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                        .eq(Task::getAgvId, agv.getId())
                        .and(i -> {
//                            i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                            i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                                    .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                        })) > 0) {
                    return;
                                i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                                .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                                .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                        })
                )) {
                    continue;
                }
                mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
                if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getAgvId, agv.getId())
                        .and( i -> {
//                                i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
                                i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
                        })
                )) {
                    continue;
                }

                mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_CHARGE, null, null);
            }
        }
    }


//    @Scheduled(cron = "0/30 * * * * ? ")
    @Scheduled(cron = "0 */2 * * * ? ")
    private void autoStandby(){
        // 1.agv充电到一定电压后，回到待机位
        // 2.agv没有任务时，回到待机位
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
        label: for (Agv agv : agvList) {
    @Scheduled(cron = "0/1 * * * * ? ")
//    @Scheduled(cron = "0 */2 * * * ? ")
    private synchronized void autoStandby(){
        if (!configService.getVal("automaticStandbyPosition", Boolean.class)) { return; }

        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getCode()) {
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
                continue;
            }
            List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
                    .eq(FuncSta::getAgvId, agv.getId()).eq(FuncSta::getType, FuncStaType.STANDBY.toString()));
            for (FuncSta funcSta : funcStaList) {
                if (agvDetail.getRecentCode().equals(funcSta.getCode())) {
                    continue label;
                }
            }
            if (agvDetail.getVol() <= agv.getChargeLine()) {
            // low battery status, that need to go to charge
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                continue;
            }
            // is charging ?
            if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
                if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
                if (agvDetail.getVol() < agvModel.getQuaBattery()) {
                    continue;
                }
            }
            if (taskService.count(new LambdaQueryWrapper<Task>()
                    .eq(Task::getAgvId, agv.getId())
                    .and(i -> {
                        i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                                .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                                .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                    })) > 0) {
            // already on standby code ?
            if (0 < funcStaService.count(new LambdaQueryWrapper<FuncSta>()
                    .eq(FuncSta::getType, FuncStaType.STANDBY.toString())
                    .eq(FuncSta::getCode, agvDetail.getRecentCode())
            )) {
                continue;
            }
            mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_STANDBY, null);
            // has running tasks ?
            if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                    .eq(Task::getAgvId, agv.getId())
                    .and(i -> {
                            i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                            .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                            .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                    })
            )) {
                continue;
            }
            // the time between the latest task and now that be must more that @{param} seconds
//            if (!Optional.ofNullable((Boolean) redis.getObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid())).orElse(false)) {
                Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
                if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
                    Task latestTask = taskService.findLatestTask(agv.getId(), null);
                    if (null != latestTask) {
                        long seconds = DateUtils.diffToSeconds(
                                Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
                                , new Date()
                        );
                        if (seconds < intervalOfAutoStandby) { continue; }
                    }
                } else {
                    continue;
                }
//            }

            mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_STANDBY, null, null);
        }
    }

@@ -110,54 +152,12 @@
    private synchronized void releaseFuncSta(){
        List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getState, FuncStaStateType.OCCUPIED.toString()));
        for (FuncSta funcSta : funcStaList) {
            Agv agv = agvService.getById(funcSta.getAgvId());
            boolean beIdle = true;
            switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
                case CHARGE: // 充电
                    for (AgvDetail agvDetail : agvDetailService.list(new LambdaQueryWrapper<AgvDetail>().eq(AgvDetail::getLastCode, funcSta.getCode()))) {
                        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                            beIdle = false;
                            break;
                        }
                    }
                    if (taskService.count(new LambdaQueryWrapper<Task>()
                            .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
                            .eq(Task::getDestCode, funcSta.getCode())
                            .eq(Task::getAgvId, agv.getId())
                            .and(i -> {
                                i.eq(Task::getTaskSts, TaskStsType.INIT.val()).or()
                                 .eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
                                 .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
                                 .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                            })) > 0) {
                        beIdle = false;
                    }
                    break;
                case STANDBY: // 待机
                    if (agvDetailService.count(new LambdaQueryWrapper<AgvDetail>().eq(AgvDetail::getCode, funcSta.getCode())) > 0) {
                        beIdle = false;
                    }
                    if (taskService.count(new LambdaQueryWrapper<Task>()
                            .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
                            .eq(Task::getDestCode, funcSta.getCode())
                            .eq(Task::getAgvId, agv.getId())
                            .and(i -> {
                                i.eq(Task::getTaskSts, TaskStsType.INIT.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                            })) > 0) {
                        beIdle = false;
                    }
                    break;
                default:
                    break;
            }
            boolean beIdle = funcStaService.isCanBeIdle(funcSta);
            if (beIdle) {
                funcSta.setState(FuncStaStateType.IDLE.toString());
                funcSta.setUpdateTime(new Date());
                if (!funcStaService.updateById(funcSta)) {
                    log.error("FuncSta [{}] 更新状态失败 ！！！", funcSta.getName());
                    log.error("FuncSta [{}] failed to be idle ！！！", funcSta.getName());
                }
            }
        }