From 12c3f4de5ce151b50e187066a3c105260523abb8 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 30 四月 2026 10:04:56 +0800
Subject: [PATCH] 充电机代码提交
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ChargeService.java | 34 ++++++-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 63 ++++++++++++---
zy-acs-charge/src/main/java/com/zy/acs/charge/ChargeCoreService.java | 8 +
zy-acs-manager/src/main/java/com/zy/acs/manager/core/integrate/charge/ChargeTestController.java | 4
zy-acs-charge/src/main/java/com/zy/acs/charge/impl/AiPowerChargeServiceImpl.java | 97 ++++++++++++++++++++----
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 8 +-
6 files changed, 169 insertions(+), 45 deletions(-)
diff --git a/zy-acs-charge/src/main/java/com/zy/acs/charge/ChargeCoreService.java b/zy-acs-charge/src/main/java/com/zy/acs/charge/ChargeCoreService.java
index 71474a7..07ef5fe 100644
--- a/zy-acs-charge/src/main/java/com/zy/acs/charge/ChargeCoreService.java
+++ b/zy-acs-charge/src/main/java/com/zy/acs/charge/ChargeCoreService.java
@@ -63,7 +63,13 @@
* @return
*/
int getChargeMode(ModbusTCPMaster client);
-
+ /**
+ * 鑾峰彇鍏呯數鏈篿d
+ *
+ * @param client
+ * @return
+ */
+ int getChargeId(ModbusTCPMaster client);
/**
* 鑾峰彇鍏呯數鏈虹姸鎬�
* @param client
diff --git a/zy-acs-charge/src/main/java/com/zy/acs/charge/impl/AiPowerChargeServiceImpl.java b/zy-acs-charge/src/main/java/com/zy/acs/charge/impl/AiPowerChargeServiceImpl.java
index 678af15..4b2cad9 100644
--- a/zy-acs-charge/src/main/java/com/zy/acs/charge/impl/AiPowerChargeServiceImpl.java
+++ b/zy-acs-charge/src/main/java/com/zy/acs/charge/impl/AiPowerChargeServiceImpl.java
@@ -2,6 +2,7 @@
import com.ghgande.j2mod.modbus.ModbusException;
import com.ghgande.j2mod.modbus.facade.ModbusTCPMaster;
+import com.ghgande.j2mod.modbus.io.AbstractModbusTransport;
import com.ghgande.j2mod.modbus.procimg.Register;
import com.ghgande.j2mod.modbus.procimg.SimpleRegister;
import com.ghgande.j2mod.modbus.util.BitVector;
@@ -19,7 +20,7 @@
@Service
@Primary
@Slf4j
-public class AiPowerChargeServiceImpl implements ChargeCoreService {
+public class AiPowerChargeServiceImpl implements ChargeCoreService {
/**
* 寮�濮嬪厖鐢�
@@ -28,12 +29,17 @@
* @return
*/
@Override
- public boolean startCharging(ModbusTCPMaster client) {
+ public boolean startCharging(ModbusTCPMaster client) {
// AGV杞︽姤鍛婂埌浣� -> true
try {
+ if (!client.isConnected()) {
+ client.connect();
+ }
return client.writeCoil(AiPowerChargerCoilEnum.AGV_REPORTED_IN_POSITION.getAddr(), true);
- } catch (ModbusException e) {
+ } catch (Exception e) {
log.info("鍐欏叆寮�濮嬪厖鐢垫寚浠ゆ姤閿�:{} ", e.getMessage());
+ }finally {
+ //client.disconnect();
}
return false;
}
@@ -47,9 +53,14 @@
@Override
public boolean stopCharging(ModbusTCPMaster client) {
try {
+ if (!client.isConnected()) {
+ client.connect();
+ }
return client.writeCoil(AiPowerChargerCoilEnum.AGV_REPORTED_IN_POSITION.getAddr(), false);
- } catch (ModbusException e) {
+ } catch (Exception e) {
log.info("鍐欏叆鍋滄鍏呯數鎸囦护鎶ラ敊:{} ", e.getMessage());
+ }finally {
+ //client.disconnect();
}
return false;
}
@@ -63,9 +74,14 @@
@Override
public boolean checkForwardRelayOnline(ModbusTCPMaster client) {
try {
+ if (!client.isConnected()) {
+ client.connect();
+ }
return client.readCoils(AiPowerChargerCoilEnum.FORWARD_RELAY_ONLINE.getAddr(), 1).getBit(0);
- } catch (ModbusException e) {
+ } catch (Exception e) {
log.info("璇诲彇鍦ㄧ嚎姝ｇ户鐢靛櫒鐘舵�佹姤閿�:{} ", e.getMessage());
+ }finally {
+ //client.disconnect();
}
return false;
}
@@ -79,9 +95,14 @@
@Override
public boolean checkBackwardRelayOffline(ModbusTCPMaster client) {
try {
+ if (!client.isConnected()) {
+ client.connect();
+ }
return client.readCoils(AiPowerChargerCoilEnum.BACKWARD_RELAY_OFFLINE.getAddr(), 1).getBit(0);
- } catch (ModbusException e) {
+ } catch (Exception e) {
log.info("璇诲彇绂荤嚎姝ｇ户鐢靛櫒鐘舵�佹姤閿�:{} ", e.getMessage());
+ }finally {
+ //client.disconnect();
}
return false;
}
@@ -95,9 +116,14 @@
@Override
public double getVoltage(ModbusTCPMaster client) {
try {
+ if (!client.isConnected()) {
+ client.connect();
+ }
return client.readMultipleRegisters(AiPowerChargerRegisterEnum.CHARGE_VOLTAGE.getAddr(), 1)[0].getValue() * AiPowerChargerRegisterEnum.CHARGE_CURRENT.getRaw();
- } catch (ModbusException e) {
+ } catch (Exception e) {
log.info("璇诲彇鍏呯數鐢靛帇鎶ラ敊:{} ", e.getMessage());
+ }finally {
+ //client.disconnect();
}
return 0;
}
@@ -111,9 +137,14 @@
@Override
public double getCurrent(ModbusTCPMaster client) {
try {
+ if (!client.isConnected()) {
+ client.connect();
+ }
return client.readMultipleRegisters(AiPowerChargerRegisterEnum.CHARGE_CURRENT.getAddr(), 1)[0].getValue() * AiPowerChargerRegisterEnum.CHARGE_CURRENT.getRaw();
- } catch (ModbusException e) {
+ } catch (Exception e) {
log.info("璇诲彇鍏呯數鐢垫祦鎶ラ敊:{} ", e.getMessage());
+ }finally {
+ //client.disconnect();
}
return 0;
}
@@ -127,9 +158,37 @@
@Override
public int getChargeMode(ModbusTCPMaster client) {
try {
+ if (!client.isConnected()) {
+ client.connect();
+ }
return client.readMultipleRegisters(AiPowerChargerRegisterEnum.CHARGE_MODE.getAddr(), 1)[0].getValue();
- } catch (ModbusException e) {
+ } catch (Exception e) {
+ e.printStackTrace();
log.info("璇诲彇鍏呯數妯″紡鎶ラ敊:{} ", e.getMessage());
+ }finally {
+ //client.disconnect();
+ }
+ return -1;
+ }
+
+ /**
+ * 鑾峰彇鍏呯數鏈虹紪鍙�
+ *
+ * @param client
+ * @return
+ */
+ @Override
+ public int getChargeId(ModbusTCPMaster client) {
+ try {
+ if (!client.isConnected()) {
+ client.connect();
+ }
+ return client.readMultipleRegisters(AiPowerChargerRegisterEnum.CHARGER_ID.getAddr(), 1)[0].getValue();
+ } catch (Exception e) {
+ e.printStackTrace();
+ log.info("璇诲彇鍏呯數鏈虹紪鍙锋姤閿�:{} ", e.getMessage());
+ }finally {
+ //client.disconnect();
}
return -1;
}
@@ -142,11 +201,15 @@
*/
@Override
public ChargerStatus getStatus(ModbusTCPMaster client) {
+
ChargerStatus status = new ChargerStatus();
// ---------- 鎵归噺璇诲彇绾垮湀锛堝湴鍧�100~115鍏�16涓級 ----------
BitVector coils = null;
try {
+ if (!client.isConnected()) {
+ client.connect();
+ }
coils = client.readCoils(AiPowerChargerCoilEnum.WORK_STATUS.getAddr(), AiPowerChargerCoilEnum.values().length);
for (int i = 0; i < coils.size(); i++) {
switch (i) {
@@ -202,12 +265,9 @@
break;
}
}
- } catch (ModbusException e) {
- log.info("鎵归噺璇诲彇绾垮湀鎶ラ敊:{} ", e.getMessage());
- }
- // ---------- 鎵归噺璇诲彇淇濇寔瀵勫瓨鍣紙鍦板潃100~116鍏�17涓級 ----------
- try {
+ // ---------- 鎵归噺璇诲彇淇濇寔瀵勫瓨鍣紙鍦板潃100~116鍏�17涓級 ----------
+
Register[] registers = client.readMultipleRegisters(AiPowerChargerRegisterEnum.CHARGE_VOLTAGE.getAddr(), AiPowerChargerRegisterEnum.values().length);
for (int i = 0; i < registers.length; i++) {
switch (i) {
@@ -266,8 +326,11 @@
break;
}
}
- } catch (ModbusException e) {
- log.info("鎵归噺璇诲彇淇濇寔瀵勫瓨鍣ㄦ姤閿�:{} ", e.getMessage());
+ } catch (Exception e) {
+ log.info("鎵归噺璇诲彇绾垮湀鎶ラ敊:{} ", e.getMessage());
+ log.info("鎵归噺璇诲彇淇濇寔瀵勫瓨鍣ㄦ姤閿�:{} ", e.getMessage());
+ }finally {
+ //client.disconnect();
}
return status;
@@ -321,5 +384,7 @@
}
return true;
}
+
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/integrate/charge/ChargeTestController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/integrate/charge/ChargeTestController.java
index 3953dc3..b4b8e1e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/integrate/charge/ChargeTestController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/integrate/charge/ChargeTestController.java
@@ -30,8 +30,8 @@
@IntegrationAuth(name = NamespaceType.RCS_STA_QUERY)
@GetMapping("/charge/{type}")
- public R test(@PathVariable("type") Integer type){
- ModbusTCPMaster modbusTCPMaster = chargeService.get("10");
+ public R test(@PathVariable("type") String type){
+ ModbusTCPMaster modbusTCPMaster = chargeService.get(type);
ChargerStatus status = chargeCoreService.getStatus(modbusTCPMaster);
return R.ok(status);
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
index c6da001..2b6de2f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
@@ -133,7 +133,7 @@
// continue;
// }
// 鍒よ鏄惁鍙互鑷姩鏂紑鍏呯數锛堝嵆鍏呯數杩囩▼涓笉鑳芥帴鍙椾换鍔★級锛岃烦杩�
- if (!agvService.judgeAutoStopCharge(agvModel,agvDetail, agv)) {
+ if (!agvService.judgeAutoStopCharge(agvModel, agvDetail, agv)) {
continue;
}
// is charging ?
@@ -252,6 +252,7 @@
* 璋冨害瀵规帴鍏呯數妗�
* 鐘舵��1锛氬紑濮嬪厖鐢�
* 鐘舵��2锛氬厖鐢典腑
+ * 鐘舵��3锛氫汉涓烘搷浣滀笅鍙戞柇寮�鍏呯數鎿嶄綔
*/
@Scheduled(cron = "0/5 * * * * ? ")
private synchronized void startCharge() {
@@ -262,7 +263,7 @@
continue;
}
AgvDetail agvDetail = agvDetailService.selectByAgvNo(key);
- if (agvDetail == null){
+ if (agvDetail == null) {
log.error("{} 鍙峰緟鍏呯數灏忚溅涓嶅瓨鍦�", key);
continue;
}
@@ -275,39 +276,71 @@
if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTCPMaster) {
continue;
}
- if (chargeCoreService.getChargeMode(modbusTCPMaster) != 0) {
- log.info("{} 璇ュ厖鐢垫満涓嶆槸鑷姩鍏呯數妯″紡", funcSta.getName());
- continue;
+ int chargeMode = chargeCoreService.getChargeMode(modbusTCPMaster);
+ if (chargeMode != 0) {
+ log.info("{} 璇ュ厖鐢垫満涓嶆槸鑷姩鍏呯數妯″紡", chargeMode);
+ continue;
}
switch (status) {
case 1:
// 鍚庨��淇″彿娑堝け锛岃鏄庨┈杈炬鍦ㄥ墠杩�
if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
+ log.info("鍙戦�佸厖鐢垫満鍏呯數鎸囦护锛氳溅鍙凤細{}", agvDetail.getAgvId$());
chargeCoreService.startCharging(modbusTCPMaster);
+ continue;
}
if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
double current = chargeCoreService.getCurrent(modbusTCPMaster);
double voltage = chargeCoreService.getVoltage(modbusTCPMaster);
if (current > 0 && voltage > 0) {
redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
- log.info("charge complete");
+ log.info("charge start:{}", agvDetail.getAgvId$());
} else {
log.info("read charge current and voltage: {},{}", current, voltage);
}
+ } else {
+ log.info("鍓嶈繘鍒颁綅淇″彿澶辫触锛氳溅鍙凤細{}", agvDetail.getAgvId$());
}
break;
case 2:
- AgvModel agvModel = agvModelService.getByAgvId(agvDetail.getAgvId());
- if (agvDetail.getSoc() >= agvModel.getQuaBattery()) {
- // 鍓嶈繘淇″彿瀛樺湪锛岃鏄庢満姊拌噦鏈几鍥�
- if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
- chargeCoreService.stopCharging(modbusTCPMaster);
+ // 濡傛灉鍏呯數鏈哄畬鎴愬厖鐢典細鑷姩鏂紑
+ // 浣嗗厖鐢垫爣璇嗗搱鍦ㄧ紦瀛樹腑锛岄偅涔堥渶瑕佹竻闄ょ紦瀛樻爣璁�
+ // 鑾峰彇鍏呯數鏈虹紪鍙蜂笖鍚庨��鍒颁綅淇″彿瀛樺湪锛岄偅涔堣鏄庢満姊拌噦宸茬粡浼稿洖锛岄偅涔堝氨闇�瑕佹竻闄ょ紦瀛�
+ if (chargeCoreService.getChargeId(modbusTCPMaster) > 0 && chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
+ redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ log.info("charge over By Auto:{}", agvDetail.getAgvId$());
+ }else {
+ AgvModel agvModel = agvModelService.getByAgvId(agvDetail.getAgvId());
+ if (agvDetail.getSoc() >= agvModel.getQuaBattery()) {
+ // 鍓嶈繘淇″彿瀛樺湪锛岃鏄庢満姊拌噦鏈几鍥�
+ if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
+ log.info("鍙戦�佸厖鐢垫満鏂厖鎸囦护锛氳溅鍙凤細{}", agvDetail.getAgvId$());
+ chargeCoreService.stopCharging(modbusTCPMaster);
+ continue;
+ }
+ if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
+ redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ log.info("charge over:{}", agvDetail.getAgvId$());
+ } else {
+ log.info("鍚庨��鍒颁綅淇″彿澶辫触锛氳溅鍙凤細{}", agvDetail.getAgvId$());
+ }
}
- if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
- redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
- log.info("charge over");
- }
+ }
+ break;
+ case 3:
+ // 鎵嬪姩鏂紑鍏呯數
+ // 鍓嶈繘淇″彿瀛樺湪锛岃鏄庢満姊拌噦鏈几鍥�
+ if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
+ log.info("鍙戦�佸厖鐢垫満鎵嬪姩鏂厖鎸囦护锛氳溅鍙凤細{}", agvDetail.getAgvId$());
+ chargeCoreService.stopCharging(modbusTCPMaster);
+ continue;
+ }
+ if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
+ redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ log.info("charge over by handle:{}", agvDetail.getAgvId$());
+ } else {
+ log.info("鎵嬪姩鍚庨��鍒颁綅淇″彿澶辫触锛氳溅鍙凤細{}", agvDetail.getAgvId$());
}
break;
default:
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ChargeService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ChargeService.java
index 23ecd1d..8a47f01 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ChargeService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ChargeService.java
@@ -26,6 +26,7 @@
private final Map<String, ModbusTCPMaster> CHARGE_CACHE = new ConcurrentHashMap<>();
+ private final Map<String, Object> deviceLocks = new ConcurrentHashMap<>();
@PostConstruct
public void init() {
@@ -42,22 +43,41 @@
public void add(FuncSta funcSta) {
ModbusTCPMaster modbusTcp = new ModbusTCPMaster(funcSta.getIp(), funcSta.getPort(), true);
+ try {
+ modbusTcp.connect();
+ } catch (Exception e) {
+ log.info("杩炴帴澶辫触");
+ }
CHARGE_CACHE.put(funcSta.getUuid(), modbusTcp);
}
public void remove(String chargePointId) {
- CHARGE_CACHE.remove(chargePointId);
+ ModbusTCPMaster master = CHARGE_CACHE.remove(chargePointId);
+ if (master != null && master.isConnected()) {
+ master.disconnect();
+ }
}
public ModbusTCPMaster get(String chargePointId) {
- ModbusTCPMaster modbusTcp = CHARGE_CACHE.get(chargePointId);
- if (modbusTcp != null) {
+ // 鑾峰彇鎴栧垱寤鸿澶囬攣
+ Object lock = deviceLocks.computeIfAbsent(chargePointId, k -> new Object());
+ synchronized (lock) {
+ ModbusTCPMaster modbusTcp = CHARGE_CACHE.get(chargePointId);
+ if (modbusTcp != null) {
+ return modbusTcp;
+ }
+ FuncSta funcSta = funcStaService.getOne(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getUuid, chargePointId));
+ modbusTcp = new ModbusTCPMaster(funcSta.getIp(), funcSta.getPort(),true);
+ try {
+ modbusTcp.connect();
+ } catch (Exception e) {
+ log.info("杩炴帴澶辫触");
+ return null;
+ }
+ CHARGE_CACHE.put(chargePointId, modbusTcp);
return modbusTcp;
}
- FuncSta funcSta = funcStaService.getOne(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getUuid, chargePointId));
- modbusTcp = new ModbusTCPMaster(funcSta.getIp(), funcSta.getPort(),true);
- CHARGE_CACHE.put(chargePointId, modbusTcp);
- return modbusTcp;
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
index bf630fe..cf1c4b6 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
@@ -343,18 +343,18 @@
@Override
public Boolean judgeAutoStopCharge(AgvModel agvModel, AgvDetail agvDetail, Agv agv ) {
if (redis.getMap(RedisConstant.AGV_CHARGE_FLAG, agv.getUuid()) != null){
- return false;
+ return true;
}
// 鎵嬪姩鍏呯數妯″紡锛岃烦杩�
if (agvModel.getNeedUndocking() != null && agvModel.getNeedUndockingBool()) {
FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
ModbusTCPMaster modbusTCPMaster = chargeService.get(funcSta.getUuid());
// 鎵嬪姩鍏呯數妯″紡,璺宠繃
- if (chargeCoreService.getChargeMode(modbusTCPMaster) != 1) {
- return false;
+ if (chargeCoreService.getChargeMode(modbusTCPMaster) == 1) {
+ return true;
}
}
- return true;
+ return false;
}
}
--
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