zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
@@ -54,23 +54,24 @@ if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) { continue; } if (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) { if (taskService.count(new LambdaQueryWrapper<Task>() if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) { if (0 < taskService.count(new LambdaQueryWrapper<Task>() .eq(Task::getAgvId, agv.getId()) .and(i -> { i.eq(Task::getTaskSts, TaskStsType.WAITING.val()) .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val()) .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val()); })) > 0) { }) )) { continue; } if (segmentService.count(new LambdaQueryWrapper<Segment>() if (0 < segmentService.count(new LambdaQueryWrapper<Segment>() .eq(Segment::getAgvId, agv.getId()) .and( i -> { // i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or() i.eq(Segment::getState, SegmentStateType.RUNNING.toString()); }) ) > 0) { )) { continue; } @@ -93,7 +94,7 @@ continue; } // low battery status, that need to go to charge if (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) { if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) { continue; } // is charging ? @@ -110,13 +111,14 @@ continue; } // has running tasks ? if (taskService.count(new LambdaQueryWrapper<Task>() if (0 < taskService.count(new LambdaQueryWrapper<Task>() .eq(Task::getAgvId, agv.getId()) .and(i -> { i.eq(Task::getTaskSts, TaskStsType.WAITING.val()) .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val()) .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val()); })) > 0) { }) )) { continue; } // the time between the latest task and now that be must more that 20 minutes @@ -139,9 +141,11 @@ 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: AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId()); if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) { beIdle = false; } else { @@ -150,17 +154,21 @@ && 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 (taskService.count(new LambdaQueryWrapper<Task>() } 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()); })) > 0) { }) )) { beIdle = false; } break; @@ -172,14 +180,15 @@ ) { beIdle = false; } if (taskService.count(new LambdaQueryWrapper<Task>() 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()); })) > 0) { }) )) { beIdle = false; } break; zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvDetailService.java
@@ -1,7 +1,9 @@ package com.zy.acs.manager.manager.service; import com.baomidou.mybatisplus.extension.service.IService; import com.zy.acs.manager.manager.entity.Agv; import com.zy.acs.manager.manager.entity.AgvDetail; import com.zy.acs.manager.manager.entity.AgvModel; public interface AgvDetailService extends IService<AgvDetail> { @@ -15,4 +17,6 @@ Boolean removeByAgvId(Long agvId); Boolean isPowerLoss(Agv agv, AgvDetail agvDetail, AgvModel agvModel); } zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvDetailServiceImpl.java
@@ -4,8 +4,10 @@ import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; 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.mapper.AgvDetailMapper; import com.zy.acs.manager.manager.service.AgvDetailService; import com.zy.acs.manager.manager.service.AgvModelService; import com.zy.acs.manager.manager.service.AgvService; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; @@ -15,6 +17,8 @@ @Autowired private AgvService agvService; @Autowired private AgvModelService agvModelService; @Override public AgvDetail selectByAgvId(Long agvId) { @@ -42,4 +46,15 @@ return baseMapper.delete(new LambdaQueryWrapper<AgvDetail>().eq(AgvDetail::getAgvId, agvId)) > 0; } @Override public Boolean isPowerLoss(Agv agv, AgvDetail agvDetail, AgvModel agvModel) { if (null == agvDetail) { agvDetail = this.selectByAgvId(agv.getId()); } if (null == agvModel) { agvModel = agvModelService.getById(agv.getAgvModel()); } return agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery(); } } zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
@@ -72,24 +72,27 @@ return false; } Agv existAgv = agvService.findByPosition(code); Agv agv = agvService.findByPosition(code); if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) { // if the type of this funSta is charge and the existing agv is in charge status, then that means this funSta is occupied if (null != existAgv) { AgvDetail agvDetail = agvDetailService.selectByAgvId(existAgv.getId()); if (null != agv) { AgvModel agvModel = agvModelService.getById(agv.getAgvModel()); AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId()); if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) { AgvModel agvModel = agvModelService.getById(existAgv.getAgvModel()); if (agvDetail.getVol() < agvModel.getQuaBattery()) { return false; } } else { Task latestTask = taskService.findLatestTask(existAgv.getId(), null); 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)) { return false; } } } } @@ -107,7 +110,7 @@ if (funcSta.getType().equals(FuncStaType.STANDBY.toString())) { if (null == existAgv) { if (null == agv) { // if there is a running task whose destination is this funSta, then that means this funSta is occupied if (0 < taskService.count(new LambdaQueryWrapper<Task>() .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
