From 7f70cb15d035f0c233b9e62b9e43aa985317c908 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 10:22:45 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 156 +++++++++++++++++++++++++++++++++-------------------
1 files changed, 99 insertions(+), 57 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 95f7210..53943f5 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
@@ -2,12 +2,10 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.enums.AgvStatusType;
+import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.manager.entity.*;
-import com.zy.acs.manager.manager.enums.FuncStaStateType;
-import com.zy.acs.manager.manager.enums.FuncStaType;
-import com.zy.acs.manager.manager.enums.TaskStsType;
-import com.zy.acs.manager.manager.enums.TaskTypeType;
+import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -20,7 +18,7 @@
import java.util.Objects;
/**
- * to judgement agv idle status when generate action !!!
+ * judge whether agv go to funcSta which be charging or standby
* Created by vincent on 2023/9/9
*/
@Slf4j
@@ -41,67 +39,98 @@
private ConfigService configService;
@Autowired
private AgvModelService agvModelService;
+ @Autowired
+ private SegmentService segmentService;
@Scheduled(cron = "0/5 * * * * ? ")
private synchronized void autoCharge(){
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ 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()) {
continue;
}
- if (agvDetail.getVol() <= agv.getChargeLine() && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (taskService.count(new LambdaQueryWrapper<Task>()
+ if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ continue;
+ }
+ 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())
- i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
- .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
- })) > 0) {
- return;
+ 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 -> {
+// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
+ i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
+ })
+ )) {
+ continue;
+ }
+
mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
}
}
}
-// @Scheduled(cron = "0/30 * * * * ? ")
- @Scheduled(cron = "0 */2 * * * ? ")
- private void autoStandby(){
- // 1.agv鍏呯數鍒颁竴瀹氱數鍘嬪悗锛屽洖鍒板緟鏈轰綅
- // 2.agv娌℃湁浠诲姟鏃讹紝鍥炲埌寰呮満浣�
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
- label: for (Agv agv : agvList) {
+ @Scheduled(cron = "0/1 * * * * ? ")
+// @Scheduled(cron = "0 */2 * * * ? ")
+ private synchronized void autoStandby(){
+ 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) {
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
- if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getCode()) {
+ AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
continue;
}
- List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
- .eq(FuncSta::getAgvId, agv.getId()).eq(FuncSta::getType, FuncStaType.STANDBY.toString()));
- for (FuncSta funcSta : funcStaList) {
- if (agvDetail.getRecentCode().equals(funcSta.getCode())) {
- continue label;
- }
- }
- if (agvDetail.getVol() <= agv.getChargeLine()) {
+ // low battery status, that need to go to charge
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
continue;
}
+ // is charging ?
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
+ if (agvDetail.getVol() < agvModel.getQuaBattery()) {
continue;
}
}
- if (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) {
+ // already on standby code ?
+ if (0 < funcStaService.count(new LambdaQueryWrapper<FuncSta>()
+ .eq(FuncSta::getType, FuncStaType.STANDBY.toString())
+ .eq(FuncSta::getCode, agvDetail.getRecentCode())
+ )) {
continue;
}
+ // has running tasks ?
+ 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());
+ })
+ )) {
+ continue;
+ }
+ // the time between the latest task and now that be must more that 10 seconds
+ 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);
}
}
@@ -110,43 +139,56 @@
private synchronized void releaseFuncSta(){
List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getState, FuncStaStateType.OCCUPIED.toString()));
for (FuncSta funcSta : funcStaList) {
- Agv agv = agvService.getById(funcSta.getAgvId());
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: // 鍏呯數
- for (AgvDetail agvDetail : agvDetailService.list(new LambdaQueryWrapper<AgvDetail>().eq(AgvDetail::getLastCode, funcSta.getCode()))) {
- if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- beIdle = false;
- break;
+ 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 (taskService.count(new LambdaQueryWrapper<Task>()
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
.eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
.eq(Task::getDestCode, funcSta.getCode())
- .eq(Task::getAgvId, agv.getId())
.and(i -> {
- i.eq(Task::getTaskSts, TaskStsType.INIT.val()).or()
- .eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
+ 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;
- case STANDBY: // 寰呮満
- if (agvDetailService.count(new LambdaQueryWrapper<AgvDetail>().eq(AgvDetail::getCode, funcSta.getCode())) > 0) {
+ 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 (taskService.count(new LambdaQueryWrapper<Task>()
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
.eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
.eq(Task::getDestCode, funcSta.getCode())
- .eq(Task::getAgvId, agv.getId())
.and(i -> {
- i.eq(Task::getTaskSts, TaskStsType.INIT.val()).or()
- .eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
+ 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;
@@ -157,7 +199,7 @@
funcSta.setState(FuncStaStateType.IDLE.toString());
funcSta.setUpdateTime(new Date());
if (!funcStaService.updateById(funcSta)) {
- log.error("FuncSta [{}] 鏇存柊鐘舵�佸け璐� 锛侊紒锛�", funcSta.getName());
+ log.error("FuncSta [{}] failed to be idle 锛侊紒锛�", funcSta.getName());
}
}
}
--
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