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 | 134 +++++++++++++++++++++++++++++++++++++++++---
1 files changed, 123 insertions(+), 11 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 a76a507..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
@@ -1,11 +1,19 @@
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;
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.integrate.wms.FaultReportService;
+import com.zy.acs.manager.core.service.ChargeService;
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.*;
@@ -15,9 +23,12 @@
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
+import java.time.Instant;
+import java.time.ZoneId;
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
@@ -36,7 +47,7 @@
@Autowired
private FuncStaService funcStaService;
@Autowired
- private MainService mainService;
+ private UplinkProperties uplinkProperties;
@Autowired
private MainLockWrapService mainLockWrapService;
@Autowired
@@ -47,14 +58,26 @@
private AgvModelService agvModelService;
@Autowired
private SegmentService segmentService;
+ @Autowired
+ private TaskReportService taskReportService;
+ @Autowired
+ private VehFaultRecService vehFaultRecService;
+ @Autowired
+ private FaultReportService faultReportService;
+ @Autowired
+ private ChargeService chargeService;
+ @Autowired
+ private ChargeCoreService chargeCoreService;
+
@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.getById(agv.getAgvModel());
- if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus()) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus()) {
continue;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -81,7 +104,7 @@
continue;
}
- mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
+ mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_CHARGE, null, null);
}
}
}
@@ -90,22 +113,27 @@
@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.getById(agv.getAgvModel());
- if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || null == agvDetail.getRecentCode()) {
continue;
}
// low battery status, that need to go to charge
- if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+// 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.getVol() < agvModel.getQuaBattery()) {
+ if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
continue;
}
}
@@ -144,12 +172,34 @@
}
// }
- mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_STANDBY, null);
+ 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);
@@ -163,4 +213,66 @@
}
}
+
+ @Scheduled(cron = "0/3 * * * * ? ")
+ private void reportFault() {
+ String reportFaultUrl = configService.getVal("reportFaultUrl", String.class);
+ if (Cools.isEmpty(reportFaultUrl)) { return; }
+ List<VehFaultRec> vehFaultRecList = vehFaultRecService.list((new LambdaQueryWrapper<VehFaultRec>().eq(VehFaultRec::getState, VehFaultRecStateType.PENDING).ge(VehFaultRec::getHappenTime, Instant.now().minusSeconds(3).atZone(ZoneId.systemDefault()).toLocalDateTime())));
+ if (Cools.isEmpty(vehFaultRecList)) { return; }
+ for (VehFaultRec vehFaultRec : vehFaultRecList) {
+ boolean finished = faultReportService.reportFinished(vehFaultRec,reportFaultUrl);
+ if (finished) {
+ vehFaultRec.setState(VehFaultRecStateType.REPORT_SUCCESS.name());
+ } else {
+ log.error("failed to report vehFaultRec to uplink");
+ vehFaultRec.setState(VehFaultRecStateType.REPORT_FAILED.name());
+ }
+ vehFaultRecService.updateById(vehFaultRec);
+ }
+
+ }
+
+ /**
+ * 璋冨害瀵规帴鍏呯數妗�
+ */
+ @Scheduled(cron = "0/5 * * * * ? ")
+ 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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