Merge branch 'rcs_master' into rcs_master_all_zkd

zhang

2 天以前 bd956ec24c5995e6a2a585d6a4987c6b7de372c1

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java

@@ -2,8 +2,6 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
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;
@@ -14,11 +12,12 @@
import com.zy.acs.manager.common.domain.PageResult;
import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.core.domain.VehicleDto;
import com.zy.acs.manager.core.service.ChargeService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
@@ -67,15 +66,6 @@
    private AreaAgvService areaAgvService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private FuncStaService funcStaService;
    @Autowired
    private ChargeService chargeService;
    @Autowired
    private ChargeCoreService chargeCoreService;
    @Autowired
    private AgvService agvService;


    @PostConstruct
    public void init() {
@@ -234,10 +224,6 @@
                return false;
            }
        }
        if (judgeAutoStopCharge(agvModel, agvDetail,agvService.getById(agvId))) {
            log.warn("[{}]号Agv需要断充操作，无法执行任务......", agvNo);
            return false;
        }
        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
                return false;
@@ -332,29 +318,6 @@

        AgvModel agvModel = agvModelService.getByAgvId(agvId);
        return Math.max(agvModel.getBackpack() - usedSlots, 0); // if less than zero, then return zero
    }

    /**
     * 判断充电过程，自动断开
     * @param agvModel
     * @param agvDetail
     * @return
     */
    @Override
    public Boolean judgeAutoStopCharge(AgvModel agvModel, AgvDetail agvDetail, Agv agv ) {
        if (redis.getMap(RedisConstant.AGV_CHARGE_FLAG, agv.getUuid()) != null){
            return  false;
        }
        // 手动充电模式，跳过
        if (agvModel.getNeedUndocking() != null && agvModel.getNeedUndockingBool()) {
            FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
            ModbusTCPMaster modbusTCPMaster = chargeService.get(funcSta.getUuid());
            // 手动充电模式,跳过
            if (chargeCoreService.getChargeMode(modbusTCPMaster) != 1) {
                return false;
            }
        }
        return true;
    }

}