From e5950739d6df283c02fe3160b8b8f739a902f415 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 30 四月 2026 10:09:00 +0800
Subject: [PATCH] 充电机代码提交
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 76 +++++++++++++++++++++++++++++++-------
1 files changed, 62 insertions(+), 14 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 97ca4cd..15d706f 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
@@ -2,6 +2,8 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.ghgande.j2mod.modbus.facade.ModbusTCPMaster;
+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;
@@ -12,12 +14,11 @@
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.ChargeService;
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;
-import com.zy.acs.manager.manager.entity.AgvModel;
-import com.zy.acs.manager.manager.entity.Segment;
+import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
@@ -66,6 +67,15 @@
private AreaAgvService areaAgvService;
@Autowired
private MapDataDispatcher mapDataDispatcher;
+ @Autowired
+ private FuncStaService funcStaService;
+ @Autowired
+ private ChargeService chargeService;
+ @Autowired
+ private ChargeCoreService chargeCoreService;
+ @Autowired
+ private AgvService agvService;
+
@PostConstruct
public void init() {
@@ -120,7 +130,7 @@
}
@Override
- public Agv modify(Agv agv, Long userId) {
+ public synchronized Agv modify(Agv agv, Long userId) {
if (agv == null || agv.getId() == null) {
throw new CoolException("Update Fail");
}
@@ -139,6 +149,9 @@
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)) {
@@ -156,6 +169,10 @@
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;
}
@@ -183,19 +200,21 @@
@Override
public Boolean judgeEnable(Long agvId) {
- return this.judgeEnable(agvId, false);
+ return this.judgeEnable(agvId, false, true);
}
@Override
- public Boolean judgeEnable(Long agvId, Boolean isLowBattery) {
+ public Boolean judgeEnable(Long agvId, Boolean isLowBattery, Boolean idleStatus) {
String agvNo = this.getAgvNo(agvId);
AgvModel agvModel = agvModelService.getByAgvId(agvId);
- if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getAgvId, agvId)
- .eq(Segment::getState, SegmentStateType.RUNNING.toString())
- )) {
+ if (idleStatus) {
+ if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getState, SegmentStateType.RUNNING.toString())
+ )) {
// log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 - segment......", agvNo);
- return false;
+ return false;
+ }
}
if (!this.judgeOnline(agvId)) {
// log.warn("[{}]鍙稟gv涓嶆槸鍦ㄧ嚎鐘舵��......", agvNo);
@@ -209,8 +228,14 @@
if (null == agvDetail.getSoc() || agvDetail.getSoc() == 0) {
return false;
}
- if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- log.warn("[{}]鍙稟gv涓嶆槸绌洪棽鐘舵��......", agvNo);
+ if (idleStatus) {
+ if (!agvDetail.getAgvStatus().equals(AgvStatusType.IDLE) && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ log.warn("[{}]鍙稟gv涓嶆槸绌洪棽鐘舵��......", agvNo);
+ return false;
+ }
+ }
+ if (judgeAutoStopCharge(agvModel, agvDetail,agvService.getById(agvId))) {
+ log.warn("[{}]鍙稟gv闇�瑕佹柇鍏呮搷浣滐紝鏃犳硶鎵ц浠诲姟......", agvNo);
return false;
}
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -309,4 +334,27 @@
return Math.max(agvModel.getBackpack() - usedSlots, 0); // if less than zero, then return zero
}
+ /**
+ * 鍒ゆ柇鍏呯數杩囩▼锛岃嚜鍔ㄦ柇寮�
+ * @param agvModel
+ * @param agvDetail
+ * @return
+ */
+ @Override
+ public Boolean judgeAutoStopCharge(AgvModel agvModel, AgvDetail agvDetail, Agv agv ) {
+ if (redis.getMap(RedisConstant.AGV_CHARGE_FLAG, agv.getUuid()) != null){
+ return true;
+ }
+ // 鎵嬪姩鍏呯數妯″紡锛岃烦杩�
+// if (agvModel.getNeedUndocking() != null && agvModel.getNeedUndockingBool()) {
+// FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
+// ModbusTCPMaster modbusTCPMaster = chargeService.get(funcSta.getUuid());
+// // 鎵嬪姩鍏呯數妯″紡,璺宠繃
+// if (modbusTCPMaster != null && chargeCoreService.getChargeMode(modbusTCPMaster) == 1) {
+// return true;
+// }
+// }
+ return false;
+ }
+
}
--
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