From 98670de02fde18c0aedaf349c0e165c59f57685b Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期二, 05 五月 2026 10:42:43 +0800
Subject: [PATCH] 部分代码移到单独的类
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 84 ++++++++++++++++++++++++++++--------------
1 files changed, 56 insertions(+), 28 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 d5b5c73..95337d9 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
@@ -3,9 +3,11 @@
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.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.service.MainLockWrapService;
-import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -36,7 +38,7 @@
@Autowired
private FuncStaService funcStaService;
@Autowired
- private MainService mainService;
+ private UplinkProperties uplinkProperties;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
@@ -47,14 +49,17 @@
private AgvModelService agvModelService;
@Autowired
private SegmentService segmentService;
+ @Autowired
+ private TaskReportService taskReportService;
@Scheduled(cron = "0/5 * * * * ? ")
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());
AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
- if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus()) {
+ if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus()) {
continue;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -64,19 +69,19 @@
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;
}
@@ -90,13 +95,14 @@
@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; }
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.getByAgvId(agv.getId());
- if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
+ if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
continue;
}
// low battery status, that need to go to charge
@@ -105,7 +111,7 @@
// }
// is charging ?
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (agvDetail.getVol() < agvModel.getQuaBattery()) {
+ if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
continue;
}
}
@@ -120,36 +126,58 @@
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; }
- }
- } else {
- 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;
+ }
// }
mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_STANDBY, null, null);
}
}
+ @Scheduled(cron = "0/3 * * * * ? ")
+ private void reportTaskToUplink() {
+ 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; }
+ for (Task task : taskList) {
+ boolean finished = taskReportService.reportFinished(task);
+ if (finished) {
+ task.setUplinkSts(TaskUplinkStateType.SUCCESS.toString());
+ } else {
+ log.error("failed to report task to uplink: {}", task.getSeqNum());
+ task.setUplinkSts(TaskUplinkStateType.FAILED.toString());
+ }
+ taskService.updateById(task);
+ }
+
+ }
+
@Scheduled(cron = "0/5 * * * * ? ")
- private synchronized void releaseFuncSta(){
+ private synchronized void releaseFuncSta() {
List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>().eq(FuncSta::getState, FuncStaStateType.OCCUPIED.toString()));
for (FuncSta funcSta : funcStaList) {
boolean beIdle = funcStaService.isCanBeIdle(funcSta);
--
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