From c42a7c76e24940db9e81307dc67104d9068c3119 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期二, 07 四月 2026 15:04:21 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 58 ++++++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 52 insertions(+), 6 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 e817f55..e8e0107 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
@@ -1,6 +1,10 @@
package com.zy.acs.manager.core.scheduler;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.github.xingshuangs.iot.protocol.modbus.service.ModbusRtuOverTcp;
+import com.github.xingshuangs.iot.protocol.modbus.service.ModbusTcp;
+import com.zy.acs.charge.ChargeCoreService;
+import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
@@ -8,6 +12,7 @@
import com.zy.acs.manager.common.config.UplinkProperties;
import com.zy.acs.manager.core.integrate.wms.TaskReportService;
import com.zy.acs.manager.core.integrate.wms.FaultReportService;
+import com.zy.acs.manager.core.service.ChargeService;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
@@ -23,6 +28,7 @@
import java.util.Date;
import java.util.List;
import java.util.Optional;
+import java.util.Set;
/**
* judge whether agv go to funcSta which be charging or standby
@@ -59,7 +65,9 @@
@Autowired
private FaultReportService faultReportService;
@Autowired
- private FuncTaskService funcTaskService;
+ private ChargeService chargeService;
+ @Autowired
+ private ChargeCoreService chargeCoreService;
@Scheduled(cron = "0/5 * * * * ? ")
@@ -119,6 +127,10 @@
// if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
// continue;
// }
+ // 瀛樺湪鍏呯數鏍囪锛岃烦杩�
+ if (redis.getMap(RedisConstant.AGV_CHARGE_FLAG, agv.getUuid()) != null) {
+ continue;
+ }
// is charging ?
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
@@ -221,12 +233,46 @@
}
+ /**
+ * 璋冨害瀵规帴鍏呯數妗�
+ */
@Scheduled(cron = "0/5 * * * * ? ")
- private synchronized void workFuncTask() {
- List<FuncTask> funcTaskList = funcTaskService.list(new LambdaQueryWrapper<FuncTask>().eq(FuncTask::getFuncTaskSts, TaskStsType.INIT.toString()));
- for (FuncTask funcTask : funcTaskList) {
- // 璋冨害灏忚溅鍘诲鎺ュ厖鐢垫々
-
+ private synchronized void startCharge() {
+ Set<String> mapKeys = redis.getMapKeys(RedisConstant.AGV_CHARGE_FLAG);
+ for (String key : mapKeys) {
+ Integer status = redis.getMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ AgvDetail agvDetail = agvDetailService.selectByAgvNo(key);
+ FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
+ ModbusRtuOverTcp modbusTcp = chargeService.get(funcSta.getUuid());
+ if (status != null && status == 1) {
+ // 鍚庨��淇″彿娑堝け锛岃鏄庨┈杈炬鍦ㄥ墠杩�
+ if (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
+ chargeCoreService.startCharging(modbusTcp);
+ }
+ while (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
+ double current = chargeCoreService.getCurrent(modbusTcp);
+ double voltage = chargeCoreService.getVoltage(modbusTcp);
+ if (current > 0 && voltage > 0) {
+ redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
+ log.info("charge complete");
+ }else {
+ log.info("read charge current and voltage: {},{}", current, voltage);
+ }
+ }
+ } else if (status != null && status == 2) {
+ // 鍚庨��淇″彿娑堝け锛岃鏄庨┈杈炬鍦ㄥ墠杩�
+ if (chargeCoreService.checkForwardRelayOnline(modbusTcp)) {
+ chargeCoreService.startCharging(modbusTcp);
+ }
+ while (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
+ redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ log.info("charge over");
+ }
+ }
}
}
+
+
+
+
}
--
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