From 7c4d3d957c431aad12f90511770e2fe429bcd380 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 24 十二月 2024 16:38:25 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java | 92 ++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 81 insertions(+), 11 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
index d9358ea..e9307d8 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
@@ -15,10 +15,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.Comparator;
-import java.util.List;
+import java.util.*;
import java.util.stream.Collectors;
@Service("funcStaService")
@@ -45,9 +42,8 @@
}
@Override
- public FuncSta query(Long agvId, Long codeId, String type) {
+ public FuncSta query(Long codeId, String type) {
List<FuncSta> list = this.list(new LambdaQueryWrapper<FuncSta>()
- .eq(FuncSta::getAgvId, agvId)
.eq(FuncSta::getCode, codeId)
.eq(FuncSta::getType, type)
);
@@ -77,7 +73,7 @@
if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) {
// 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 != agv) {
+ if (null != agv && !agv.getId().equals(agvId)) {
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -100,7 +96,7 @@
// if there is a running task whose destination is this funSta, then that means this funSta is occupied
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
+ .in(Task::getTaskType, TaskTypeType.TO_STANDBY.val(), TaskTypeType.TO_CHARGE.val())
.in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
.eq(Task::getDestCode, code)
)) {
@@ -114,7 +110,11 @@
if (null == agv) {
// if there is a running task whose destination is this funSta, then that means this funSta is occupied
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
+ .in(Task::getTaskType
+ , TaskTypeType.TO_STANDBY.val()
+ , TaskTypeType.TO_CHARGE.val()
+ , TaskTypeType.MOVE.val()
+ )
.in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
.eq(Task::getDestCode, code)
)) {
@@ -122,10 +122,13 @@
}
} else {
- // if there is an agv on the code of this funSta, should we let this agv leave?
- // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
+ if (!agv.getId().equals(agvId)) {
+ // if there is an agv on the code of this funSta, should we let this agv leave?
+ // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
// Task latestTaskByAgv = taskService.findLatestTask(existAgv.getId());
+ return false;
+ }
}
}
@@ -167,4 +170,71 @@
return funcStaList.stream().findFirst().orElse(null);
}
+ @Override
+ public Boolean isCanBeIdle(FuncSta funcSta) {
+ Agv agv;
+ switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
+ case CHARGE:
+ 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());
+ })
+ )) {
+ return false;
+ }
+
+ agv = agvService.findByPosition(funcSta.getCode());
+ if (null != agv) {
+ AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ return 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)) {
+ return false;
+ }
+ }
+ }
+ }
+ break;
+ case STANDBY:
+ 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());
+ })
+ )) {
+ return false;
+ }
+
+ agv = agvService.findByPosition(funcSta.getCode());
+ if (null != agv) {
+ Task latestTask = taskService.findLatestTask(agv.getId(), null);
+ if (null != latestTask
+ && latestTask.getTaskType().equals(TaskTypeType.TO_STANDBY.val())
+ && latestTask.getDestCode().equals(funcSta.getCode())
+ ) {
+ return false;
+ }
+ }
+ break;
+ default:
+ break;
+ }
+ return true;
+ }
+
}
--
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