部分代码移到单独的类

zhang

2 天以前 98670de02fde18c0aedaf349c0e165c59f57685b

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

@@ -1,17 +1,12 @@
package com.zy.acs.manager.core.scheduler;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.common.config.UplinkProperties;
import com.zy.acs.manager.core.integrate.wms.FaultReportService;
import com.zy.acs.manager.core.integrate.wms.TaskReportService;
import com.zy.acs.manager.core.service.ChargeService;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
@@ -22,12 +17,9 @@
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

import java.time.Instant;
import java.time.ZoneId;
import java.util.Date;
import java.util.List;
import java.util.Optional;
import java.util.Set;

/**
 * judge whether agv go to funcSta which be charging or standby
@@ -59,21 +51,10 @@
    private SegmentService segmentService;
    @Autowired
    private TaskReportService taskReportService;
    @Autowired
    private VehFaultRecService vehFaultRecService;
    @Autowired
    private FaultReportService faultReportService;
    @Autowired
    private ChargeService chargeService;
    @Autowired
    private ChargeCoreService chargeCoreService;


    @Scheduled(cron = "0/5 * * * * ? ")
    private synchronized void autoCharge() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) {
            return;
        }
    private synchronized void autoCharge(){
        if (!configService.getVal("TaskAssignMode", 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());
@@ -97,7 +78,7 @@
                }
                if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                                .eq(Segment::getAgvId, agv.getId())
                                .and(i -> {
                                .and( i -> {
//                                i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
                                    i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
                                })
@@ -113,13 +94,9 @@

    @Scheduled(cron = "0/1 * * * * ? ")
//    @Scheduled(cron = "0 */2 * * * ? ")
    private synchronized void autoStandby() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) {
            return;
        }
        if (!configService.getVal("automaticStandbyPosition", Boolean.class)) {
            return;
        }
    private synchronized void autoStandby(){
        if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
        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) {
@@ -132,10 +109,6 @@
//            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
//                continue;
//            }
            // 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
            if (!agvService.judgeAutoStopCharge(agvModel, agvDetail, agv)) {
                continue;
            }
            // is charging ?
            if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
@@ -170,9 +143,7 @@
                            Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
                            , new Date()
                    );
                    if (seconds < intervalOfAutoStandby) {
                        continue;
                    }
                    if (seconds < intervalOfAutoStandby) { continue; }
                }
            } else {
                continue;
@@ -184,18 +155,14 @@
    }

    @Scheduled(cron = "0/3 * * * * ? ")
    private synchronized void reportTaskToUplink() {
        if (!uplinkProperties.getEnabled()) {
            return;
        }
    private void reportTaskToUplink() {
        if (!uplinkProperties.getEnabled()) { return; }
        List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
                .in(Task::getUplinkSts, TaskUplinkStateType.PENDING.toString(), TaskUplinkStateType.FAILED.toString())
                .eq(Task::getTaskSts, TaskStsType.COMPLETE.val())
                .isNotNull(Task::getBusId)
        );
        if (Cools.isEmpty(taskList)) {
            return;
        }
        if (Cools.isEmpty(taskList)) { return; }
        for (Task task : taskList) {
            boolean finished = taskReportService.reportFinished(task);
            if (finished) {
@@ -223,132 +190,5 @@
            }
        }
    }


    @Scheduled(cron = "0/3 * * * * ? ")
    private synchronized void reportFault() {
        String reportFaultUrl = configService.getVal("reportFaultUrl", String.class);
        if (Cools.isEmpty(reportFaultUrl)) {
            return;
        }
        List<VehFaultRec> vehFaultRecList = vehFaultRecService.list((new LambdaQueryWrapper<VehFaultRec>().eq(VehFaultRec::getState, VehFaultRecStateType.PENDING).ge(VehFaultRec::getHappenTime, Instant.now().minusSeconds(180).atZone(ZoneId.systemDefault()).toLocalDateTime())));
        if (Cools.isEmpty(vehFaultRecList)) {
            return;
        }
        for (VehFaultRec vehFaultRec : vehFaultRecList) {
            boolean finished = faultReportService.reportFinished(vehFaultRec, reportFaultUrl);
            if (finished) {
                vehFaultRec.setState(VehFaultRecStateType.REPORT_SUCCESS.name());
            } else {
                log.error("failed to report vehFaultRec to uplink");
                vehFaultRec.setState(VehFaultRecStateType.REPORT_FAILED.name());
            }
            vehFaultRecService.updateById(vehFaultRec);
        }

    }

    /**
     * 调度对接充电桩
     * 状态1：开始充电
     * 状态2：充电中
     * 状态3：人为操作下发断开充电操作
     */
    @Scheduled(cron = "0/5 * * * * ? ")
    private synchronized void startCharge() {
        Set<String> mapKeys = redis.getMapKeys(RedisConstant.AGV_CHARGE_FLAG);
        for (String key : mapKeys) {
            Integer status = redis.getMap(RedisConstant.AGV_CHARGE_FLAG, key);
            if (null == status) {
                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());
            ModbusTCPMaster modbusTCPMaster = chargeService.get(funcSta.getUuid());
            if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTCPMaster) {
                continue;
            }
            int chargeMode = chargeCoreService.getChargeMode(modbusTCPMaster);
            if (chargeMode != 0) {
                log.info("{} 该充电机不是自动充电模式", chargeMode);
                continue;
            }
            switch (status) {
                case 1:
                    // 后退信号消失，说明马达正在前进
                    if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
                        log.info("发送充电机充电指令：车号：{}", agvDetail.getAgvId$());
                        chargeCoreService.startCharging(modbusTCPMaster);
                        continue;
                    }
                    if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
                        double current = chargeCoreService.getCurrent(modbusTCPMaster);
                        double voltage = chargeCoreService.getVoltage(modbusTCPMaster);
                        if (current > 0 && voltage > 0) {
                            redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
                            log.info("charge start:{}", agvDetail.getAgvId$());
                        } else {
                            log.info("read charge current and voltage: {},{}", current, voltage);
                        }
                    } else {
                        log.info("前进到位信号失败：车号：{}", agvDetail.getAgvId$());
                    }
                    break;

                case 2:
                    // 如果充电机完成充电会自动断开
                    // 但充电标识哈在缓存中，那么需要清除缓存标记
                    // 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
                    if (chargeCoreService.getChargeId(modbusTCPMaster) > 0 && chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
                        redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
                        log.info("charge over By Auto:{}", agvDetail.getAgvId$());
                    }else {
                        AgvModel agvModel = agvModelService.getByAgvId(agvDetail.getAgvId());
                        if (agvDetail.getSoc() >= agvModel.getQuaBattery()) {
                            // 前进信号存在，说明机械臂未伸回
                            if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
                                log.info("发送充电机断充指令：车号：{}", agvDetail.getAgvId$());
                                chargeCoreService.stopCharging(modbusTCPMaster);
                                continue;
                            }
                            if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
                                redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
                                log.info("charge over:{}", agvDetail.getAgvId$());
                            } else {
                                log.info("后退到位信号失败：车号：{}", agvDetail.getAgvId$());
                            }
                        }
                    }
                    break;
//                case 3:
//                    // 手动断开充电
//                    // 前进信号存在，说明机械臂未伸回
//                    if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
//                        log.info("发送充电机手动断充指令：车号：{}", agvDetail.getAgvId$());
//                        chargeCoreService.stopCharging(modbusTCPMaster);
//                        continue;
//                    }
//                    if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
//                        redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
//                        log.info("charge over by handle:{}", agvDetail.getAgvId$());
//                    } else {
//                        log.info("手动后退到位信号失败：车号：{}", agvDetail.getAgvId$());
//                    }
//                    break;
                default:
                    log.error("charge status error: {}", status);
                    break;
            }
        }
    }


}