From c2e96f6862590af4a57d838453adcd2ba9cf6912 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 29 十月 2024 15:01:00 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 42 +++++++++++++++++++++++-------------------
1 files changed, 23 insertions(+), 19 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 a3df759..6f8f67f 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
@@ -57,8 +57,8 @@
if (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())
+ i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
+ .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
})) > 0) {
continue;
@@ -72,6 +72,7 @@
) > 0) {
continue;
}
+
mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
}
}
@@ -81,39 +82,42 @@
// @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, StatusType.ENABLE.val));
- label: for (Agv agv : agvList) {
+
+ 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 (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) {
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;
}
}
+ // 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 (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());
})) > 0) {
continue;
}
+
mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_STANDBY, null);
}
}
--
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