#

luxiaotao1123

2024-11-13 566392943866d7cf90ded0d5a67660caf51af022

#

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

@@ -155,63 +155,59 @@
        for (FuncSta funcSta : funcStaList) {
            boolean beIdle = true;
            Agv agv = agvService.findByPosition(funcSta.getCode());
            if (null == agv) {
                beIdle = false;
            } else {
                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:
            switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
                case CHARGE:
                    AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
                    AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
                    if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                        beIdle = false;
                    } else {
                        Task latestTask = taskService.findLatestTask(agv.getId(), null);
                        if (null != latestTask
                                && latestTask.getTaskType().equals(TaskTypeType.TO_STANDBY.val())
                                && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
                                && latestTask.getDestCode().equals(funcSta.getCode())
                        ) {
                            beIdle = false;
                            // 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_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;
                }
                    }
                    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;
            }

            if (beIdle) {