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luxiaotao1123

2024-10-30 f4afec78b16219f00bd9aee594e1676e3adb14e0

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

@@ -2,6 +2,7 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
@@ -17,7 +18,7 @@
import java.util.Objects;

/**
 * to judgement agv idle status when generate action !!!
 * judge whether agv go to funcSta which be charging or standby
 * Created by vincent on 2023/9/9
 */
@Slf4j
@@ -81,9 +82,10 @@

//    @Scheduled(cron = "0/30 * * * * ? ")
    @Scheduled(cron = "0 */2 * * * ? ")
    private void autoStandby(){
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
    private synchronized void autoStandby(){
        if (!configService.getVal("automaticStandbyPosition", Boolean.class)) { return; }

        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());
@@ -117,6 +119,15 @@
                    })) > 0) {
                continue;
            }
            // the time between the latest task and now that be must more that 20 minutes
            Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
            if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
                Task latestTask = taskService.findLatestTask(agv.getId(), TaskStsType.COMPLETE);
                if (null != latestTask && !latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())) {
                    long minutes = DateUtils.diffToMinute(latestTask.getUpdateTime(), new Date());
                    if (minutes < intervalOfAutoStandby) { continue; }
                }
            }

            mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_STANDBY, null);
        }
@@ -126,40 +137,46 @@
    private synchronized void releaseFuncSta(){
        List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getState, FuncStaStateType.OCCUPIED.toString()));
        for (FuncSta funcSta : funcStaList) {
            Agv agv = agvService.getById(funcSta.getAgvId());
            boolean beIdle = true;
            Agv agv = agvService.findByPosition(funcSta.getCode());
            switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
                case CHARGE: // 充电
                    for (AgvDetail agvDetail : agvDetailService.list(new LambdaQueryWrapper<AgvDetail>().eq(AgvDetail::getLastCode, funcSta.getCode()))) {
                case CHARGE:
                    AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
                        if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                            beIdle = false;
                            break;
                    } else {
                        Task latestTask = taskService.findLatestTask(agv.getId(), null);
                        if (null != latestTask
                                && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
                                && latestTask.getDestCode().equals(funcSta.getCode())
                        ) {
                            beIdle = false;
                        }
                    }
                    if (taskService.count(new LambdaQueryWrapper<Task>()
                            .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
                            .eq(Task::getDestCode, funcSta.getCode())
                            .eq(Task::getAgvId, agv.getId())
                            .and(i -> {
                                i.eq(Task::getTaskSts, TaskStsType.INIT.val()).or()
                                 .eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
                                 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;
                case STANDBY: // 待机
                    if (agvDetailService.count(new LambdaQueryWrapper<AgvDetail>().eq(AgvDetail::getCode, funcSta.getCode())) > 0) {
                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 (taskService.count(new LambdaQueryWrapper<Task>()
                            .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
                            .eq(Task::getDestCode, funcSta.getCode())
                            .eq(Task::getAgvId, agv.getId())
                            .and(i -> {
                                i.eq(Task::getTaskSts, TaskStsType.INIT.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
                                i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
                                .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                            })) > 0) {
@@ -173,7 +190,7 @@
                funcSta.setState(FuncStaStateType.IDLE.toString());
                funcSta.setUpdateTime(new Date());
                if (!funcStaService.updateById(funcSta)) {
                    log.error("FuncSta [{}] 更新状态失败 ！！！", funcSta.getName());
                    log.error("FuncSta [{}] failed to be idle ！！！", funcSta.getName());
                }
            }
        }

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

@@ -34,6 +34,6 @@

    List<Task> findRunningTasksByAgv(Long agvId);

    Task findLatestTask(Long agvId);
    Task findLatestTask(Long agvId, TaskStsType taskSts);

}

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

@@ -78,11 +78,19 @@
                // 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());
                    AgvModel agvModel = agvModelService.getById(existAgv.getAgvModel());
                    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);
                        if (null != latestTask
                                && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
                                && latestTask.getDestCode().equals(funcSta.getCode())
                        ) {
                            return false;
                        }
                    }
                }


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

@@ -187,13 +187,16 @@
    }

    @Override
    public Task findLatestTask(Long agvId) {
    public Task findLatestTask(Long agvId, TaskStsType taskSts) {
        LambdaQueryWrapper<Task> wrapper = new LambdaQueryWrapper<Task>()
                .orderByDesc(Task::getCreateTime)
                .last("limit 0, 1");
        if (null != agvId) {
            wrapper.eq(Task::getAgvId, agvId);
        }
        if (null != taskSts) {
            wrapper.eq(Task::getTaskSts, taskSts.val());
        }
        return this.list(wrapper).stream().findFirst().orElse(null);
    }