From 5d8216a8d79aeb7b22a86478580018a3d9628406 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期三, 08 四月 2026 11:14:08 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 145 +++++++++++++++++++++++++++++-------------------
1 files changed, 87 insertions(+), 58 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 e8e0107..7df45fb 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
@@ -2,7 +2,6 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.github.xingshuangs.iot.protocol.modbus.service.ModbusRtuOverTcp;
-import com.github.xingshuangs.iot.protocol.modbus.service.ModbusTcp;
import com.zy.acs.charge.ChargeCoreService;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
@@ -10,8 +9,8 @@
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.integrate.wms.FaultReportService;
+import com.zy.acs.manager.core.integrate.wms.TaskReportService;
import com.zy.acs.manager.core.service.ChargeService;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.manager.entity.*;
@@ -71,8 +70,10 @@
@Scheduled(cron = "0/5 * * * * ? ")
- private synchronized void autoCharge(){
- if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
+ private synchronized void autoCharge() {
+ if (!configService.getVal("TaskAssignMode", 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());
@@ -87,19 +88,19 @@
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());
+ i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
+ .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
+ .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
})
)) {
continue;
}
if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getAgvId, agv.getId())
- .and( i -> {
+ .eq(Segment::getAgvId, agv.getId())
+ .and(i -> {
// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
- i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
- })
+ i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
+ })
)) {
continue;
}
@@ -112,9 +113,13 @@
@Scheduled(cron = "0/1 * * * * ? ")
// @Scheduled(cron = "0 */2 * * * ? ")
- private synchronized void autoStandby(){
- if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
- if (!configService.getVal("automaticStandbyPosition", Boolean.class)) { return; }
+ private synchronized void autoStandby() {
+ if (!configService.getVal("TaskAssignMode", Boolean.class)) {
+ return;
+ }
+ 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) {
@@ -148,28 +153,30 @@
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());
+ i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
+ .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
+ .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
})
)) {
continue;
}
// the time between the latest task and now that be must more that @{param} seconds
// if (!Optional.ofNullable((Boolean) redis.getObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid())).orElse(false)) {
- Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
- if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
- Task latestTask = taskService.findLatestTask(agv.getId(), null);
- if (null != latestTask) {
- long seconds = DateUtils.diffToSeconds(
- Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
- , new Date()
- );
- if (seconds < intervalOfAutoStandby) { continue; }
+ Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
+ if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
+ Task latestTask = taskService.findLatestTask(agv.getId(), null);
+ if (null != latestTask) {
+ long seconds = DateUtils.diffToSeconds(
+ Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
+ , new Date()
+ );
+ if (seconds < intervalOfAutoStandby) {
+ continue;
}
- } else {
- continue;
}
+ } else {
+ continue;
+ }
// }
mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_STANDBY, null, null);
@@ -178,13 +185,17 @@
@Scheduled(cron = "0/3 * * * * ? ")
private void reportTaskToUplink() {
- if (!uplinkProperties.getEnabled()) { return; }
+ if (!uplinkProperties.getEnabled()) {
+ return;
+ }
List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
.in(Task::getUplinkSts, TaskUplinkStateType.PENDING.toString(), TaskUplinkStateType.FAILED.toString())
.eq(Task::getTaskSts, TaskStsType.COMPLETE.val())
.isNotNull(Task::getBusId)
);
- if (Cools.isEmpty(taskList)) { return; }
+ if (Cools.isEmpty(taskList)) {
+ return;
+ }
for (Task task : taskList) {
boolean finished = taskReportService.reportFinished(task);
if (finished) {
@@ -217,11 +228,15 @@
@Scheduled(cron = "0/3 * * * * ? ")
private void reportFault() {
String reportFaultUrl = configService.getVal("reportFaultUrl", String.class);
- if (Cools.isEmpty(reportFaultUrl)) { return; }
+ if (Cools.isEmpty(reportFaultUrl)) {
+ return;
+ }
List<VehFaultRec> vehFaultRecList = vehFaultRecService.list((new LambdaQueryWrapper<VehFaultRec>().eq(VehFaultRec::getState, VehFaultRecStateType.PENDING).ge(VehFaultRec::getHappenTime, Instant.now().minusSeconds(3).atZone(ZoneId.systemDefault()).toLocalDateTime())));
- if (Cools.isEmpty(vehFaultRecList)) { return; }
+ if (Cools.isEmpty(vehFaultRecList)) {
+ return;
+ }
for (VehFaultRec vehFaultRec : vehFaultRecList) {
- boolean finished = faultReportService.reportFinished(vehFaultRec,reportFaultUrl);
+ boolean finished = faultReportService.reportFinished(vehFaultRec, reportFaultUrl);
if (finished) {
vehFaultRec.setState(VehFaultRecStateType.REPORT_SUCCESS.name());
} else {
@@ -241,38 +256,52 @@
Set<String> mapKeys = redis.getMapKeys(RedisConstant.AGV_CHARGE_FLAG);
for (String key : mapKeys) {
Integer status = redis.getMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ if (null == status) {
+ continue;
+ }
AgvDetail agvDetail = agvDetailService.selectByAgvNo(key);
FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
ModbusRtuOverTcp modbusTcp = chargeService.get(funcSta.getUuid());
- if (status != null && status == 1) {
- // 鍚庨��淇″彿娑堝け锛岃鏄庨┈杈炬鍦ㄥ墠杩�
- if (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
- chargeCoreService.startCharging(modbusTcp);
- }
- while (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
- double current = chargeCoreService.getCurrent(modbusTcp);
- double voltage = chargeCoreService.getVoltage(modbusTcp);
- if (current > 0 && voltage > 0) {
- redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
- log.info("charge complete");
- }else {
- log.info("read charge current and voltage: {},{}", current, voltage);
+ if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTcp) {
+ 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(modbusTcp)) {
+ chargeCoreService.startCharging(modbusTcp);
}
- }
- } else if (status != null && status == 2) {
- // 鍚庨��淇″彿娑堝け锛岃鏄庨┈杈炬鍦ㄥ墠杩�
- if (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
- chargeCoreService.startCharging(modbusTcp);
- }
- while (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
- redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
- log.info("charge over");
- }
+ if (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
+ double current = chargeCoreService.getCurrent(modbusTcp);
+ double voltage = chargeCoreService.getVoltage(modbusTcp);
+ if (current > 0 && voltage > 0) {
+ redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
+ log.info("charge complete");
+ } else {
+ log.info("read charge current and voltage: {},{}", current, voltage);
+ }
+ }
+ 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(modbusTcp)) {
+ chargeCoreService.stopCharging(modbusTcp);
+ }
+ if (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
+ redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ log.info("charge over");
+ }
+ }
+ break;
+ default:
+ log.error("charge status error: {}", status);
+ break;
}
}
}
-
-
}
--
Gitblit v1.9.1