From d2bdac9da5131cfe34612d491377b0ac544d56bd Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 30 十月 2024 14:14:56 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 37 +++++++++++++++++++++++--------------
1 files changed, 23 insertions(+), 14 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 c8ea055..d8a2e0d 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
@@ -54,23 +54,24 @@
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
continue;
}
- if (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) {
- if (taskService.count(new LambdaQueryWrapper<Task>()
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+ if (0 < 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());
- })) > 0) {
+ })
+ )) {
continue;
}
- if (segmentService.count(new LambdaQueryWrapper<Segment>()
+ if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
.eq(Segment::getAgvId, agv.getId())
.and( i -> {
// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
})
- ) > 0) {
+ )) {
continue;
}
@@ -93,7 +94,7 @@
continue;
}
// low battery status, that need to go to charge
- if (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) {
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
continue;
}
// is charging ?
@@ -110,13 +111,14 @@
continue;
}
// has running tasks ?
- if (taskService.count(new LambdaQueryWrapper<Task>()
+ if (0 < 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());
- })) > 0) {
+ })
+ )) {
continue;
}
// the time between the latest task and now that be must more that 20 minutes
@@ -139,9 +141,11 @@
for (FuncSta funcSta : funcStaList) {
boolean beIdle = true;
Agv agv = agvService.findByPosition(funcSta.getCode());
+ AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+
switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
case CHARGE:
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
beIdle = false;
} else {
@@ -150,17 +154,21 @@
&& latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
&& latestTask.getDestCode().equals(funcSta.getCode())
) {
- beIdle = false;
+ // avoid the agv already be full battery but there was no task assign to it, so that not in charge status and battery had down
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+ beIdle = false;
+ }
}
}
- if (taskService.count(new LambdaQueryWrapper<Task>()
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
.eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
.eq(Task::getDestCode, funcSta.getCode())
.and(i -> {
i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
.eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
.eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
- })) > 0) {
+ })
+ )) {
beIdle = false;
}
break;
@@ -172,14 +180,15 @@
) {
beIdle = false;
}
- if (taskService.count(new LambdaQueryWrapper<Task>()
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
.eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
.eq(Task::getDestCode, funcSta.getCode())
.and(i -> {
i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
.eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
.eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
- })) > 0) {
+ })
+ )) {
beIdle = false;
}
break;
--
Gitblit v1.9.1