From 6f5c384b7f838f35e3da4db129a57c76cd54d508 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 10:51:51 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 62 +++++++++++++++++++------------
1 files changed, 38 insertions(+), 24 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 c8ea055..a0769c3 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
@@ -2,6 +2,7 @@
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.DateUtils;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.manager.entity.*;
@@ -24,6 +25,8 @@
@Slf4j
@Component
public class MaintainScheduler {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@Autowired
private AgvService agvService;
@@ -54,23 +57,24 @@
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;
}
@@ -80,8 +84,8 @@
}
-// @Scheduled(cron = "0/30 * * * * ? ")
- @Scheduled(cron = "0 */2 * * * ? ")
+ @Scheduled(cron = "0/1 * * * * ? ")
+// @Scheduled(cron = "0 */2 * * * ? ")
private synchronized void autoStandby(){
if (!configService.getVal("automaticStandbyPosition", Boolean.class)) { return; }
@@ -93,7 +97,7 @@
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 ?
@@ -110,24 +114,27 @@
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
- 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; }
+ // the time between the latest task and now that be must more that 10 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(latestTask.getUpdateTime(), new Date());
+ if (seconds < intervalOfAutoStandby) { continue; }
+ }
}
- }
+// }
mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_STANDBY, null);
}
@@ -139,9 +146,11 @@
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 +159,21 @@
&& latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
&& latestTask.getDestCode().equals(funcSta.getCode())
) {
- beIdle = false;
+ // 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 +185,15 @@
) {
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;
--
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