From bfe51f9c2ce2181fee372ed5f9017c7af59cc896 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期一, 01 九月 2025 12:49:55 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 146 ++++++++++++++++++++++++++++++++++++++----------
1 files changed, 116 insertions(+), 30 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
index 3a60f28..1a08ec2 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
@@ -4,15 +4,18 @@
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
-import com.zy.acs.common.utils.JudgeSupport;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.domain.BaseParam;
import com.zy.acs.manager.common.domain.PageParam;
import com.zy.acs.manager.common.domain.PageResult;
+import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.core.domain.VehicleDto;
import com.zy.acs.manager.manager.controller.result.AgvResult;
-import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.entity.Agv;
+import com.zy.acs.manager.manager.entity.AgvDetail;
+import com.zy.acs.manager.manager.entity.AgvModel;
+import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
@@ -21,8 +24,11 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import javax.annotation.PostConstruct;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
+import java.util.Map;
/**
* 瀛楀吀鏁版嵁Service瀹炵幇
@@ -36,6 +42,10 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+ private static final Map<String, Long> AGV_ID_MAP = new HashMap<>();
+
+ private static final Map<Long, String> AGV_NO_MAP = new HashMap<>();
+
@Autowired
private AgvDetailService agvDetailService;
@Autowired
@@ -46,6 +56,16 @@
private CodeService codeService;
@Autowired
private SegmentService segmentService;
+ @Autowired
+ private TaskService taskService;
+
+ @PostConstruct
+ public void init() {
+ for (Agv agv : this.list()) {
+ AGV_ID_MAP.put(agv.getUuid(), agv.getId());
+ AGV_NO_MAP.put(agv.getId(), agv.getUuid());
+ }
+ }
@Override
public PageResult<AgvResult> pageRel(PageParam<Agv, BaseParam> pageParam) {
@@ -58,63 +78,88 @@
}
@Override
- public Agv queryIdle(Task task) {
- if (Cools.isEmpty(task)) {
- return null;
+ public Long getAgvId(String uuid) {
+ if (Cools.isEmpty(uuid)) {
+ Agv agv = this.selectByUuid(uuid);
+ if (agv != null) {
+ AGV_ID_MAP.put(uuid, agv.getId());
+ } else {
+ return null;
+ }
}
- return null;
+ return AGV_ID_MAP.get(uuid);
}
+
+ @Override
+ public String getAgvNo(Long agvId) {
+ if (Cools.isEmpty(agvId)) {
+ Agv agv = this.getById(agvId);
+ if (agv != null) {
+ AGV_NO_MAP.put(agvId, agv.getUuid());
+ } else {
+ return null;
+ }
+ }
+ return AGV_NO_MAP.get(agvId);
+ }
+
@Override
public Boolean judgeEnable(Long agvId) {
- return this.judgeEnable(agvId, null);
+ return this.judgeEnable(agvId, false);
}
@Override
- public Boolean judgeEnable(Long agvId, JudgeSupport<AgvDetail> support) {
- Agv agv = this.getById(agvId);
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- if (segmentService.count(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getAgvId, agvId)
- .and( i -> {
-// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
- i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
- })
- ) > 0) {
+ public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
+ String agvNo = this.getAgvNo(agvId);
+ AgvModel agvModel = agvModelService.getByAgvId(agvId);
+ if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getState, SegmentStateType.RUNNING.toString())
+ )) {
+// log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agvNo);
return false;
}
- if (!this.judgeOnline(agv.getId())) {
- log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agv.getUuid());
+ if (!this.judgeOnline(agvId)) {
+// log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agvNo);
return false;
}
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
if (null == agvDetail) {
- log.warn("[{}]鍙稟gv鏈敹鍒扮姸鎬佸寘......", agv.getUuid());
+ log.warn("[{}]鍙稟gv鏈敹鍒扮姸鎬佸寘......", agvNo);
return false;
}
if (agvDetail.getVol() == 0) {
return false;
}
if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- log.warn("[{}]鍙稟gv涓嶆槸绌洪棽鐘舵��......", agv.getUuid());
+ log.warn("[{}]鍙稟gv涓嶆槸绌洪棽鐘舵��......", agvNo);
return false;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (agvDetail.getVol() <= agvModel.getQuaBattery()) {
- return false;
- }
- }
- if (support != null) {
- if (!support.execute(agvDetail)) {
+ if (agvDetail.getVol() < agvModel.getQuaBattery()) {
return false;
}
}
if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getPos() != 1) {
- log.warn("[{}]鍙稟gv璇风Щ鍔ㄥ埌瀹氫綅......", agv.getUuid());
+ log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agvNo);
+ return false;
+ }
+ if (null == agvDetail.getRecentCode()) {
+ log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agvNo);
return false;
}
}
+ // with battery
+ if (isLowBattery) {
+ Agv agv = this.getById(agvId);
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+ log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agvNo);
+ return false;
+ }
+ }
+
return true;
}
@@ -137,10 +182,51 @@
AgvDetail detail = agvDetailService.selectByAgvId(agv.getId());
VehicleDto dto = new VehicleDto();
dto.setVehicle(agv.getUuid());
- dto.setPosCode(codeService.getById(detail.getRecentCode()).getData());
+ dto.setPosCode(codeService.getCacheById(detail.getRecentCode()).getData());
res.add(dto);
}
return res;
}
+ @Override
+ public Integer getBackpack(Agv agv) {
+// if (null != agv.getStage()) {
+// return agv.getStage();
+// }
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ assert null != agvModel;
+ return agvModel.getBackpack();
+ }
+
+ @Override
+ public Agv findByPosition(Long codeId) {
+ List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>()
+// .eq(Agv::getStatus, StatusType.ENABLE.val)
+ );
+ for (Agv agv : agvList) {
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ if (null == agvDetail) {
+ continue;
+ }
+ if (null == agvDetail.getRecentCode()) {
+ continue;
+ }
+ if (agvDetail.getRecentCode().equals(codeId)) {
+ return agv;
+ }
+ }
+ return null;
+ }
+
+ @Override
+ public int getBackpackRemainingCapacity(Long agvId) {
+ Integer usedSlots = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
+ if (null == usedSlots) {
+ usedSlots = taskService.findTransportTasksCountByAgv(agvId);
+ }
+
+ AgvModel agvModel = agvModelService.getByAgvId(agvId);
+ return Math.max(agvModel.getBackpack() - usedSlots, 0); // if less than zero, then return zero
+ }
+
}
--
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