充电逻辑

zhang

9 天以前 5a10e832b6b63a10ff7479789577a4100a440d5b

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

@@ -1,7 +1,7 @@
package com.zy.acs.manager.core.scheduler;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.github.xingshuangs.iot.protocol.modbus.service.ModbusRtuOverTcp;
import com.ghgande.j2mod.modbus.facade.ModbusTCPMaster;
import com.zy.acs.charge.ChargeCoreService;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
@@ -250,6 +250,8 @@

    /**
     * 调度对接充电桩
     * 状态1：开始充电
     * 状态2：充电中
     */
    @Scheduled(cron = "0/5 * * * * ? ")
    private synchronized void startCharge() {
@@ -260,23 +262,32 @@
                continue;
            }
            AgvDetail agvDetail = agvDetailService.selectByAgvNo(key);
            if (agvDetail == null){
                log.error("{} 号待充电小车不存在", key);
                continue;
            }
            if (agvDetail.getCode() == null) {
                log.error("{} 号待充电小车无地址码", key);
                continue;
            }
            FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
            ModbusRtuOverTcp modbusTcp = chargeService.get(funcSta.getUuid());
            if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTcp) {
            ModbusTCPMaster modbusTCPMaster = chargeService.get(funcSta.getUuid());
            if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTCPMaster) {
                continue;
            }
            if (chargeCoreService.getChargeMode(modbusTCPMaster) != 0) {
                log.info("{} 该充电机不是自动充电模式", funcSta.getName());
               continue;
            }
            switch (status) {
                case 1:
                    // 后退信号消失，说明马达正在前进
                    if (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
                        chargeCoreService.startCharging(modbusTcp);
                    if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
                        chargeCoreService.startCharging(modbusTCPMaster);
                    }
                    if (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
                        double current = chargeCoreService.getCurrent(modbusTcp);
                        double voltage = chargeCoreService.getVoltage(modbusTcp);
                    if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
                        double current = chargeCoreService.getCurrent(modbusTCPMaster);
                        double voltage = chargeCoreService.getVoltage(modbusTCPMaster);
                        if (current > 0 && voltage > 0) {
                            redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
                            log.info("charge complete");
@@ -290,10 +301,10 @@
                    AgvModel agvModel = agvModelService.getByAgvId(agvDetail.getAgvId());
                    if (agvDetail.getSoc() >= agvModel.getQuaBattery()) {
                        // 前进信号存在，说明机械臂未伸回
                        if (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
                            chargeCoreService.stopCharging(modbusTcp);
                        if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
                            chargeCoreService.stopCharging(modbusTCPMaster);
                        }
                        if (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
                        if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
                            redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
                            log.info("charge over");
                        }