#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -9,11 +9,14 @@
import com.zy.acs.manager.common.domain.BaseParam;
import com.zy.acs.manager.common.domain.PageParam;
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.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.*;
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.enums.StatusType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
@@ -21,8 +24,11 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import javax.annotation.PostConstruct;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
 * 字典数据Service实现
@@ -36,6 +42,10 @@

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    private static final Map<String, Long> AGV_ID_MAP = new HashMap<>();

    private static final Map<Long, String> AGV_NO_MAP = new HashMap<>();

    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
@@ -46,6 +56,16 @@
    private CodeService codeService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private TaskService taskService;

    @PostConstruct
    public void init() {
        for (Agv agv : this.list()) {
            AGV_ID_MAP.put(agv.getUuid(), agv.getId());
            AGV_NO_MAP.put(agv.getId(), agv.getUuid());
        }
    }

    @Override
    public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
@@ -58,12 +78,31 @@
    }

    @Override
    public Agv queryIdle(Task task) {
        if (Cools.isEmpty(task)) {
            return null;
    public Long getAgvId(String uuid) {
        if (Cools.isEmpty(uuid)) {
            Agv agv = this.selectByUuid(uuid);
            if (agv != null) {
                AGV_ID_MAP.put(uuid, agv.getId());
            } else {
                return null;
            }
        }
        return null;
        return AGV_ID_MAP.get(uuid);
    }

    @Override
    public String getAgvNo(Long agvId) {
        if (Cools.isEmpty(agvId)) {
            Agv agv = this.getById(agvId);
            if (agv != null) {
                AGV_NO_MAP.put(agvId, agv.getUuid());
            } else {
                return null;
            }
        }
        return AGV_NO_MAP.get(agvId);
    }


    @Override
    public Boolean judgeEnable(Long agvId) {
@@ -71,50 +110,52 @@
    }

    @Override
    public Boolean judgeEnable(Long agvId, Boolean withBattery) {
        Agv agv = this.getById(agvId);
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
        if (segmentService.count(new LambdaQueryWrapper<Segment>()
    public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
        String agvNo = this.getAgvNo(agvId);
        AgvModel agvModel = agvModelService.getByAgvId(agvId);
        if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getAgvId, agvId)
                        .and( i -> {
//                    i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
                            i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
                        })
        ) > 0) {
            log.warn("[{}]号Agv正在忙碌 -segment......", agv.getUuid());
                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
        )) {
//            log.warn("[{}]号Agv正在忙碌 - segment......", agvNo);
            return false;
        }
        if (!this.judgeOnline(agv.getId())) {
            log.warn("[{}]号Agv不是在线状态......", agv.getUuid());
        if (!this.judgeOnline(agvId)) {
//            log.warn("[{}]号Agv不是在线状态......", agvNo);
            return false;
        }
        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
        if (null == agvDetail) {
            log.warn("[{}]号Agv未收到状态包......", agv.getUuid());
            log.warn("[{}]号Agv未收到状态包......", agvNo);
            return false;
        }
        if (agvDetail.getVol() == 0) {
            return false;
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            log.warn("[{}]号Agv不是空闲状态......", agv.getUuid());
            log.warn("[{}]号Agv不是空闲状态......", agvNo);
            return false;
        }
        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
            if (agvDetail.getVol() < agvModel.getQuaBattery()) {
                return false;
            }
        }
        if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getPos() != 1) {
                log.warn("[{}]号Agv当前不在定位......", agv.getUuid());
                log.warn("[{}]号Agv当前不在定位......", agvNo);
                return false;
            }
            if (null == agvDetail.getRecentCode()) {
                log.warn("[{}]号Agv当前不在定位......", agvNo);
                return false;
            }
        }
        // with battery
        if (withBattery) {
        if (isLowBattery) {
            Agv agv = this.getById(agvId);
            if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
                log.warn("[{}]号Agv电量不足......", agv.getUuid());
                log.warn("[{}]号Agv电量不足......", agvNo);
                return false;
            }
        }
@@ -141,7 +182,7 @@
            AgvDetail detail = agvDetailService.selectByAgvId(agv.getId());
            VehicleDto dto = new VehicleDto();
            dto.setVehicle(agv.getUuid());
            dto.setPosCode(codeService.getById(detail.getRecentCode()).getData());
            dto.setPosCode(codeService.getCacheById(detail.getRecentCode()).getData());
            res.add(dto);
        }
        return res;
@@ -149,17 +190,19 @@

    @Override
    public Integer getBackpack(Agv agv) {
        if (null != agv.getStage()) {
            return agv.getStage();
        }
        AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
//        if (null != agv.getStage()) {
//            return agv.getStage();
//        }
        AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
        assert null != agvModel;
        return agvModel.getBackpack();
    }

    @Override
    public Agv findByPosition(Long codeId) {
        List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>()
//                .eq(Agv::getStatus, StatusType.ENABLE.val)
        );
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail) {
@@ -175,4 +218,15 @@
        return null;
    }

    @Override
    public int getBackpackRemainingCapacity(Long agvId) {
        Integer usedSlots = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
        if (null == usedSlots) {
            usedSlots = taskService.findTransportTasksCountByAgv(agvId);
        }

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

}