From 80f5003a640db7795d69c5e3a73caa685c289b80 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期三, 14 一月 2026 16:27:38 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 131 ++++++++++++++++++++++++++++++++++++++++---
1 files changed, 120 insertions(+), 11 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 b9d13d7..fedc29c 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
@@ -6,10 +6,13 @@
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.exception.CoolException;
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.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
@@ -22,12 +25,14 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
import javax.annotation.PostConstruct;
import java.util.ArrayList;
-import java.util.HashMap;
+import java.util.Date;
import java.util.List;
import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
/**
* 瀛楀吀鏁版嵁Service瀹炵幇
@@ -41,9 +46,9 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- private static final Map<String, Long> AGV_ID_MAP = new HashMap<>();
+ public static final Map<String, Long> AGV_ID_MAP = new ConcurrentHashMap<>();
- private static final Map<Long, String> AGV_NO_MAP = new HashMap<>();
+ public static final Map<Long, String> AGV_NO_MAP = new ConcurrentHashMap<>();
@Autowired
private AgvDetailService agvDetailService;
@@ -57,6 +62,10 @@
private SegmentService segmentService;
@Autowired
private TaskService taskService;
+ @Autowired
+ private AreaAgvService areaAgvService;
+ @Autowired
+ private MapDataDispatcher mapDataDispatcher;
@PostConstruct
public void init() {
@@ -81,7 +90,16 @@
if (Cools.isEmpty(uuid)) {
return null;
}
- return AGV_ID_MAP.get(uuid);
+ Long agvId = AGV_ID_MAP.get(uuid);
+ if (agvId != null) {
+ return agvId;
+ }
+ Agv agv = this.selectByUuid(uuid);
+ if (agv == null) {
+ return null;
+ }
+ AGV_ID_MAP.put(uuid, agv.getId());
+ return agv.getId();
}
@Override
@@ -89,7 +107,84 @@
if (Cools.isEmpty(agvId)) {
return null;
}
- return AGV_NO_MAP.get(agvId);
+ String agvNo = AGV_NO_MAP.get(agvId);
+ if (!Cools.isEmpty(agvNo)) {
+ return agvNo;
+ }
+ Agv agv = this.getById(agvId);
+ if (null == agv) {
+ return null;
+ }
+ AGV_NO_MAP.put(agvId, agv.getUuid());
+ return agv.getUuid();
+ }
+
+ @Override
+ public synchronized Agv modify(Agv agv, Long userId) {
+ if (agv == null || agv.getId() == null) {
+ throw new CoolException("Update Fail");
+ }
+ Date now = new Date();
+
+ // 鍞竴鎬ф牎楠岋細鍙湁褰� uuid 闈炵┖鏃舵墠鏍￠獙锛堥伩鍏嶇┖鍊艰鍒わ級
+ if (!Cools.isEmpty(agv.getUuid())) {
+ boolean exists = this.count(new LambdaQueryWrapper<Agv>()
+ .eq(Agv::getUuid, agv.getUuid())
+ .ne(Agv::getId, agv.getId())) > 0;
+ if (exists) {
+ throw new CoolException("Update Fail");
+ }
+ }
+
+ Agv oldAgv = this.getById(agv.getId());
+ String oldAgvNo = oldAgv.getUuid();
+
+ AgvModelServiceImpl.AGV_ID_MODEL_CACHE.remove(agv.getId());
+ AgvModelServiceImpl.AGV_NO_MODEL_CACHE.remove(oldAgvNo);
+
+ agv.setUpdateBy(userId);
+ agv.setUpdateTime(now);
+ if (!this.updateById(agv)) {
+ throw new CoolException("Update Fail");
+ }
+
+ // 浠� DB 鏈�缁堝�间负鍑嗗埛鏂扮紦瀛橈紙闃叉璇锋眰浣撶己瀛楁/涓虹┖锛�
+ Agv newAgv = this.getById(agv.getId());
+ String newAgvNo = newAgv.getUuid();
+
+ if (!oldAgvNo.equals(newAgvNo)) {
+ AGV_ID_MAP.remove(oldAgvNo);
+ AGV_ID_MAP.put(newAgvNo, newAgv.getId());
+
+ AGV_NO_MAP.remove(newAgv.getId());
+ AGV_NO_MAP.put(newAgv.getId(), newAgvNo);
+ }
+
+// AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+// AgvModelServiceImpl.AGV_ID_MODEL_CACHE.put(agv.getId(), agvModel);
+// AgvModelServiceImpl.AGV_NO_MODEL_CACHE.put(newAgvNo, agvModel);
+
+ return newAgv;
+ }
+
+ @Override
+ @Transactional(rollbackFor = Exception.class)
+ public Long delete(Long agvId, Long userId) {
+ if (Cools.isEmpty(agvId)) {
+ return null;
+ }
+ Agv agv = this.getById(agvId);
+ AGV_NO_MAP.remove(agvId);
+ AGV_ID_MAP.remove(agv.getUuid());
+
+ mapDataDispatcher.modifyDynamicMatrix(MapDataDispatcher.MAP_DEFAULT_LEV, null, agv.getUuid(), true);
+
+ areaAgvService.removeByAgvId(agvId);
+ this.removeById(agvId);
+
+ agvDetailService.removeByAgvId(agvId);
+
+ return agvId;
}
@@ -106,11 +201,11 @@
.eq(Segment::getAgvId, agvId)
.eq(Segment::getState, SegmentStateType.RUNNING.toString())
)) {
- log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agvNo);
+// log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agvNo);
return false;
}
if (!this.judgeOnline(agvId)) {
- log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agvNo);
+// log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agvNo);
return false;
}
AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
@@ -118,7 +213,7 @@
log.warn("[{}]鍙稟gv鏈敹鍒扮姸鎬佸寘......", agvNo);
return false;
}
- if (agvDetail.getVol() == 0) {
+ if (null == agvDetail.getSoc() || agvDetail.getSoc() == 0) {
return false;
}
if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -126,7 +221,7 @@
return false;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- if (agvDetail.getVol() < agvModel.getQuaBattery()) {
+ if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
return false;
}
}
@@ -178,11 +273,14 @@
}
@Override
- public Integer getBackpack(Agv agv) {
+ public Integer getBackpack(Long agvId) {
+ if (null == agvId) {
+ return 0;
+ }
// if (null != agv.getStage()) {
// return agv.getStage();
// }
- AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ AgvModel agvModel = agvModelService.getByAgvId(agvId);
assert null != agvModel;
return agvModel.getBackpack();
}
@@ -207,4 +305,15 @@
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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