#

luxiaotao1123

2024-10-29 c2e96f6862590af4a57d838453adcd2ba9cf6912

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

@@ -57,8 +57,8 @@
                if (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())
                                i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                                .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                                .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                        })) > 0) {
                    continue;
@@ -72,6 +72,7 @@
                ) > 0) {
                    continue;
                }

                mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
            }
        }
@@ -81,39 +82,42 @@
//    @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, StatusType.ENABLE.val));
        label: for (Agv agv : agvList) {

        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 (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) {
                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;
                }
            }
            // 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 (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());
                            i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                            .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                            .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                    })) > 0) {
                continue;
            }

            mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_STANDBY, null);
        }
    }