充电机代码提交

zhang

7 天以前 edfe933a8acdaea32c54b0b55eb3e68c39623ba5

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

@@ -1,7 +1,7 @@
package com.zy.acs.manager.core.scheduler;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.github.xingshuangs.iot.protocol.modbus.service.ModbusRtuOverTcp;
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;
@@ -132,8 +132,8 @@
//            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
//                continue;
//            }
            // 存在充电标记，跳过
            if (redis.getMap(RedisConstant.AGV_CHARGE_FLAG, agv.getUuid()) != null) {
            // 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 ?
@@ -250,6 +250,9 @@

    /**
     * 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() {
@@ -260,42 +263,86 @@
                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());
            ModbusRtuOverTcp modbusTcp = chargeService.get(funcSta.getUuid());
            if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTcp) {
            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(modbusTcp)) {
                        chargeCoreService.startCharging(modbusTcp);
                    if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
                        log.info("发送充电机充电指令：车号：{}", agvDetail.getAgvId$());
                        chargeCoreService.startCharging(modbusTCPMaster);
                        continue;
                    }
                    if (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
                        double current = chargeCoreService.getCurrent(modbusTcp);
                        double voltage = chargeCoreService.getVoltage(modbusTcp);
                    if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
                        double current = chargeCoreService.getCurrent(modbusTCPMaster);
                        double voltage = chargeCoreService.getVoltage(modbusTCPMaster);
                        if (current > 0 && voltage > 0) {
                            redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
                            log.info("charge complete");
                            log.info("charge start:{}", agvDetail.getAgvId$());
                        } 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:
                    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(modbusTcp)) {
                            chargeCoreService.stopCharging(modbusTcp);
                        }
                        if (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
                            redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
                            log.info("charge over");
                    // 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;