充电机代码提交

zhang

7 天以前 e5950739d6df283c02fe3160b8b8f739a902f415

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

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

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;
@@ -12,12 +14,11 @@
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.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.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
@@ -66,6 +67,15 @@
    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() {
@@ -120,7 +130,7 @@
    }

    @Override
    public Agv modify(Agv agv, Long userId) {
    public synchronized Agv modify(Agv agv, Long userId) {
        if (agv == null || agv.getId() == null) {
            throw new CoolException("Update Fail");
        }
@@ -139,6 +149,9 @@
        Agv oldAgv = this.getById(agv.getId());
        String oldAgvNo = oldAgv.getUuid();

        AgvModelServiceImpl.AGV_ID_MODEL_CACHE.remove(agv.getId());
        AgvModelServiceImpl.AGV_NO_MODEL_CACHE.remove(oldAgvNo);

        agv.setUpdateBy(userId);
        agv.setUpdateTime(now);
        if (!this.updateById(agv)) {
@@ -156,6 +169,10 @@
            AGV_NO_MAP.remove(newAgv.getId());
            AGV_NO_MAP.put(newAgv.getId(), newAgvNo);
        }

//        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
//        AgvModelServiceImpl.AGV_ID_MODEL_CACHE.put(agv.getId(), agvModel);
//        AgvModelServiceImpl.AGV_NO_MODEL_CACHE.put(newAgvNo, agvModel);

        return newAgv;
    }
@@ -183,19 +200,21 @@

    @Override
    public Boolean judgeEnable(Long agvId) {
        return this.judgeEnable(agvId, false);
        return this.judgeEnable(agvId, false, true);
    }

    @Override
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery, Boolean idleStatus) {
        String agvNo = this.getAgvNo(agvId);
        AgvModel agvModel = agvModelService.getByAgvId(agvId);
        if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getAgvId, agvId)
                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
        )) {
        if (idleStatus) {
            if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                    .eq(Segment::getAgvId, agvId)
                    .eq(Segment::getState, SegmentStateType.RUNNING.toString())
            )) {
//            log.warn("[{}]号Agv正在忙碌 - segment......", agvNo);
            return false;
                return false;
            }
        }
        if (!this.judgeOnline(agvId)) {
//            log.warn("[{}]号Agv不是在线状态......", agvNo);
@@ -206,15 +225,21 @@
            log.warn("[{}]号Agv未收到状态包......", agvNo);
            return false;
        }
        if (agvDetail.getVol() == 0) {
        if (null == agvDetail.getSoc() || agvDetail.getSoc() == 0) {
            return false;
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            log.warn("[{}]号Agv不是空闲状态......", agvNo);
        if (idleStatus) {
            if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                log.warn("[{}]号Agv不是空闲状态......", agvNo);
                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.getVol() < agvModel.getQuaBattery()) {
            if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
                return false;
            }
        }
@@ -309,4 +334,27 @@
        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 true;
        }
        // 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 (modbusTCPMaster != null && chargeCoreService.getChargeMode(modbusTCPMaster) == 1) {
//                return true;
//            }
//        }
        return false;
    }

}