From 53c6a35bfe690d8b36f7c7e28c7228dba8bb54cb Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 02 二月 2026 13:55:57 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 112 +++++++++++++++++++-------------------------------------
1 files changed, 38 insertions(+), 74 deletions(-)
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 1095e24..e2ae932 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
@@ -3,9 +3,11 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.common.utils.RedisSupport;
+import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.DateUtils;
+import com.zy.acs.manager.common.config.UplinkProperties;
+import com.zy.acs.manager.core.integrate.wms.TaskReportService;
import com.zy.acs.manager.core.service.MainLockWrapService;
-import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -17,7 +19,6 @@
import java.util.Date;
import java.util.List;
-import java.util.Objects;
import java.util.Optional;
/**
@@ -37,7 +38,7 @@
@Autowired
private FuncStaService funcStaService;
@Autowired
- private MainService mainService;
+ private UplinkProperties uplinkProperties;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
@@ -48,14 +49,16 @@
private AgvModelService agvModelService;
@Autowired
private SegmentService segmentService;
+ @Autowired
+ private TaskReportService taskReportService;
@Scheduled(cron = "0/5 * * * * ? ")
private synchronized void autoCharge(){
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());
- if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus()) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus()) {
continue;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -82,7 +85,7 @@
continue;
}
- mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
+ mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_CHARGE, null, null);
}
}
}
@@ -96,17 +99,17 @@
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());
- if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
continue;
}
// low battery status, that need to go to charge
- if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
- continue;
- }
+// if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+// continue;
+// }
// is charging ?
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (agvDetail.getVol() < agvModel.getQuaBattery()) {
+ if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
continue;
}
}
@@ -145,75 +148,36 @@
}
// }
- mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_STANDBY, null);
+ mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_STANDBY, null, null);
}
+ }
+
+ @Scheduled(cron = "0/3 * * * * ? ")
+ private void reportTaskToUplink(){
+ if (!uplinkProperties.getEnabled()) { return; }
+ List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
+ .eq(Task::getUplinkSts, TaskUplinkStateType.PENDING.toString())
+ .eq(Task::getTaskSts, TaskStsType.COMPLETE.val())
+ );
+ if (Cools.isEmpty(taskList)) { return; }
+ for (Task task : taskList) {
+ boolean finished = taskReportService.reportFinished(task);
+ if (finished) {
+ task.setUplinkSts(TaskUplinkStateType.SUCCESS.toString());
+ } else {
+ log.error("failed to report task to uplink: {}", task.getSeqNum());
+ task.setUplinkSts(TaskUplinkStateType.FAILED.toString());
+ }
+ taskService.updateById(task);
+ }
+
}
@Scheduled(cron = "0/5 * * * * ? ")
private synchronized void releaseFuncSta(){
List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getState, FuncStaStateType.OCCUPIED.toString()));
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:
- 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;
- }
- }
-
+ boolean beIdle = funcStaService.isCanBeIdle(funcSta);
if (beIdle) {
funcSta.setState(FuncStaStateType.IDLE.toString());
funcSta.setUpdateTime(new Date());
--
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