#

luxiaotao1123

2024-11-13 6828e790d254dd44162ff245025f7903def395be

#

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

@@ -155,60 +155,65 @@
        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());
            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;
                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;
                        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) {
                funcSta.setState(FuncStaStateType.IDLE.toString());
                funcSta.setUpdateTime(new Date());

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -921,7 +921,7 @@
                        break;
                    case TO_CHARGE:
                        // 检验方向
                        FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
                        FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
                        Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                        if (!lastDirection.equals(chargeDirection)) {
                            actionList.add(new Action(

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java

@@ -123,7 +123,7 @@

        double deltaX = x1 - x0;
        double deltaY = y1 - y0;
        double angle = Math.atan2(deltaX, deltaY);
        double angle = -Math.atan2(deltaX, deltaY);
        int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
        angle = Math.toDegrees(angle) + angleOffsetVal;
        angle = (angle + 360) % 360; // 将角度转换为正值

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java

@@ -87,7 +87,7 @@
    public Code getRandomCode(AgvDetail agvDetail) {
        Code startCode = codeService.getById(agvDetail.getRecentCode());
        List<String> notInCodeList = new ArrayList<>();
        notInCodeList.add("00000061");
        notInCodeList.add("00000151");
        List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));
        Collections.shuffle(list);
        for (Code endCode : list) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java

@@ -10,7 +10,7 @@

    FuncSta getByCodeAndType(Long codeId, String type);

    FuncSta query(Long agvId, Long codeId, String type);
    FuncSta query(Long codeId, String type);

    List<FuncSta> findInIdleStatus(FuncStaType type, Long agvId);


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

@@ -54,7 +54,11 @@
        if (null == agvModel) {
            agvModel = agvModelService.getById(agv.getAgvModel());
        }
        return agvDetail.getVol() < Math.min(agv.getChargeLine(), agvModel.getLowBattery());
        if (null == agv.getChargeLine()) {
            return agvDetail.getVol() < agvModel.getLowBattery();
        } else {
            return agvDetail.getVol() < Math.max(agv.getChargeLine(), agvModel.getLowBattery());
        }
    }

}

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

@@ -169,6 +169,9 @@
            if (null == agvDetail) {
                continue;
            }
            if (null == agvDetail.getRecentCode()) {
                continue;
            }
            if (agvDetail.getRecentCode().equals(codeId)) {
                return agv;
            }

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

@@ -45,9 +45,8 @@
    }

    @Override
    public FuncSta query(Long agvId, Long codeId, String type) {
    public FuncSta query(Long codeId, String type) {
        List<FuncSta> list = this.list(new LambdaQueryWrapper<FuncSta>()
                .eq(FuncSta::getAgvId, agvId)
                .eq(FuncSta::getCode, codeId)
                .eq(FuncSta::getType, type)
        );