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 |   51 ++++++++++++++++++++++++++++++---------------------
 1 files changed, 30 insertions(+), 21 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..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
@@ -54,23 +54,24 @@
             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 +81,8 @@
     }
 
 
-//    @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 +94,7 @@
                 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 ?
@@ -110,22 +111,23 @@
                 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
+            // 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(), TaskStsType.COMPLETE);
-                if (null != latestTask && !latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())) {
-                    long minutes = DateUtils.diffToMinute(latestTask.getUpdateTime(), new Date());
-                    if (minutes < intervalOfAutoStandby) { continue; }
+                Task latestTask = taskService.findLatestTask(agv.getId(), null);
+                if (null != latestTask) {
+                    long seconds = DateUtils.diffToSeconds(latestTask.getUpdateTime(), new Date());
+                    if (seconds < intervalOfAutoStandby) { continue; }
                 }
             }
 
@@ -139,9 +141,11 @@
         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 +154,21 @@
                                 && 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 +180,15 @@
                     ) {
                         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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