#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -4,6 +4,7 @@
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
@@ -16,7 +17,7 @@

import java.util.Date;
import java.util.List;
import java.util.Objects;
import java.util.Optional;

/**
 * judge whether agv go to funcSta which be charging or standby
@@ -37,6 +38,8 @@
    @Autowired
    private MainService mainService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private ConfigService configService;
@@ -50,7 +53,7 @@
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus()) {
                continue;
            }
@@ -78,7 +81,7 @@
                    continue;
                }

                mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
                mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_CHARGE, null, null);
            }
        }
    }
@@ -92,14 +95,14 @@
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
                continue;
            }
            // low battery status, that need to go to charge
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                continue;
            }
//            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
//                continue;
//            }
            // is charging ?
            if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                if (agvDetail.getVol() < agvModel.getQuaBattery()) {
@@ -124,19 +127,24 @@
            )) {
                continue;
            }
            // the time between the latest task and now that be must more that 10 seconds
            // the time between the latest task and now that be must more that @{param} seconds
//            if (!Optional.ofNullable((Boolean) redis.getObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid())).orElse(false)) {
                Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
                if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
                    Task latestTask = taskService.findLatestTask(agv.getId(), null);
                    if (null != latestTask) {
                        long seconds = DateUtils.diffToSeconds(latestTask.getUpdateTime(), new Date());
                        long seconds = DateUtils.diffToSeconds(
                                Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
                                , new Date()
                        );
                        if (seconds < intervalOfAutoStandby) { continue; }
                    }
                } else {
                    continue;
                }
//            }

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

@@ -144,62 +152,7 @@
    private synchronized void releaseFuncSta(){
        List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getState, FuncStaStateType.OCCUPIED.toString()));
        for (FuncSta funcSta : funcStaList) {
            boolean beIdle = true;
            Agv agv = agvService.findByPosition(funcSta.getCode());
            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());

            switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
                case CHARGE:
                    if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                        beIdle = false;
                    } else {
                        Task latestTask = taskService.findLatestTask(agv.getId(), null);
                        if (null != latestTask
                                && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
                                && latestTask.getDestCode().equals(funcSta.getCode())
                        ) {
                            // avoid the agv already be full battery but there was no task assign to it, so that not in charge status and battery had down
                            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                                beIdle = false;
                            }
                        }
                    }
                    if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                            .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
                            .eq(Task::getDestCode, funcSta.getCode())
                            .and(i -> {
                                 i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
                                 .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
                                 .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                            })
                    )) {
                        beIdle = false;
                    }
                    break;
                case STANDBY:
                    Task latestTask = taskService.findLatestTask(agv.getId(), null);
                    if (null != latestTask
                            && latestTask.getTaskType().equals(TaskTypeType.TO_STANDBY.val())
                            && latestTask.getDestCode().equals(funcSta.getCode())
                    ) {
                        beIdle = false;
                    }
                    if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                            .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
                            .eq(Task::getDestCode, funcSta.getCode())
                            .and(i -> {
                                i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                            })
                    )) {
                        beIdle = false;
                    }
                    break;
                default:
                    break;
            }
            boolean beIdle = funcStaService.isCanBeIdle(funcSta);
            if (beIdle) {
                funcSta.setState(FuncStaStateType.IDLE.toString());
                funcSta.setUpdateTime(new Date());