#

luxiaotao1123

2024-11-04 7f70cb15d035f0c233b9e62b9e43aa985317c908

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

@@ -2,12 +2,10 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.framework.common.DateUtils;
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;
@@ -20,7 +18,7 @@
import java.util.Objects;

/**
 * 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
@@ -41,67 +39,98 @@
    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.getById(agv.getAgvModel());
            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;
                }
                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;
                }

                mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, 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.getById(agv.getAgvModel());
            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;
            }
            // 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 10 seconds
            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(latestTask.getUpdateTime(), new Date());
                    if (seconds < intervalOfAutoStandby) { continue; }
                }
            }

            mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_STANDBY, null);
        }
    }
@@ -110,43 +139,56 @@
    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;
            Agv agv = agvService.findByPosition(funcSta.getCode());
            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());

            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;
                case CHARGE:
                    if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                        beIdle = false;
                    } else {
                        Task latestTask = taskService.findLatestTask(agv.getId(), null);
                        if (null != latestTask
                                && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
                                && latestTask.getDestCode().equals(funcSta.getCode())
                        ) {
                            // avoid the agv already be full battery but there was no task assign to it, so that not in charge status and battery had down
                            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                                beIdle = false;
                            }
                        }
                    }
                    if (taskService.count(new LambdaQueryWrapper<Task>()
                    if (0 < 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()
                                 i.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) {
                case STANDBY:
                    Task latestTask = taskService.findLatestTask(agv.getId(), null);
                    if (null != latestTask
                            && latestTask.getTaskType().equals(TaskTypeType.TO_STANDBY.val())
                            && latestTask.getDestCode().equals(funcSta.getCode())
                    ) {
                        beIdle = false;
                    }
                    if (taskService.count(new LambdaQueryWrapper<Task>()
                    if (0 < 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()
                                i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                            })) > 0) {
                            })
                    )) {
                        beIdle = false;
                    }
                    break;
@@ -157,7 +199,7 @@
                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());
                }
            }
        }