From 14f2c4fce50c871d84f89d2dca2298e0892b4672 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期二, 05 五月 2026 08:25:26 +0800
Subject: [PATCH] Merge branch 'rcs_master_1.0' into rcs_master_all
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 219 +++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 191 insertions(+), 28 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 f5361cd..ca5cb76 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
@@ -1,12 +1,17 @@
package com.zy.acs.manager.core.scheduler;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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;
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.FaultReportService;
import com.zy.acs.manager.core.integrate.wms.TaskReportService;
+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.*;
@@ -17,9 +22,12 @@
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
@@ -51,9 +59,21 @@
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(){
+ 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());
@@ -68,19 +88,19 @@
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());
+ i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
+ .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
+ .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
})
)) {
continue;
}
if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getAgvId, agv.getId())
- .and( i -> {
+ .eq(Segment::getAgvId, agv.getId())
+ .and(i -> {
// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
- i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
- })
+ i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
+ })
)) {
continue;
}
@@ -93,8 +113,13 @@
@Scheduled(cron = "0/1 * * * * ? ")
// @Scheduled(cron = "0 */2 * * * ? ")
- private synchronized void autoStandby(){
- if (!configService.getVal("automaticStandbyPosition", Boolean.class)) { return; }
+ 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) {
@@ -107,6 +132,10 @@
// if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
// continue;
// }
+ // 鍒よ鏄惁鍙互鑷姩鏂紑鍏呯數锛堝嵆鍏呯數杩囩▼涓笉鑳芥帴鍙椾换鍔★級锛岃烦杩�
+ if (!agvService.judgeAutoStopCharge(agvModel, agvDetail, agv)) {
+ continue;
+ }
// is charging ?
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getSoc() < agvModel.getQuaBattery()) {
@@ -124,28 +153,30 @@
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());
+ i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
+ .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
+ .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
})
)) {
continue;
}
// the time between the latest task and now that be must more that @{param} seconds
// if (!Optional.ofNullable((Boolean) redis.getObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid())).orElse(false)) {
- Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
- if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
- Task latestTask = taskService.findLatestTask(agv.getId(), null);
- if (null != latestTask) {
- long seconds = DateUtils.diffToSeconds(
- Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
- , new Date()
- );
- if (seconds < intervalOfAutoStandby) { continue; }
+ Integer intervalOfAutoStandby = configService.getVal("intervalOfAutoStandby", Integer.class);
+ if (null != intervalOfAutoStandby && intervalOfAutoStandby > 0) {
+ Task latestTask = taskService.findLatestTask(agv.getId(), null);
+ if (null != latestTask) {
+ long seconds = DateUtils.diffToSeconds(
+ Optional.ofNullable(latestTask.getEndTime()).orElse(latestTask.getUpdateTime())
+ , new Date()
+ );
+ if (seconds < intervalOfAutoStandby) {
+ continue;
}
- } else {
- continue;
}
+ } else {
+ continue;
+ }
// }
mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_STANDBY, null, null);
@@ -153,13 +184,18 @@
}
@Scheduled(cron = "0/3 * * * * ? ")
- private void reportTaskToUplink() {
- if (!uplinkProperties.getEnabled()) { return; }
+ private synchronized void reportTaskToUplink() {
+ if (!uplinkProperties.getEnabled()) {
+ return;
+ }
List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
- .eq(Task::getUplinkSts, TaskUplinkStateType.PENDING.toString())
+ .in(Task::getUplinkSts, TaskUplinkStateType.PENDING.toString(), TaskUplinkStateType.FAILED.toString())
.eq(Task::getTaskSts, TaskStsType.COMPLETE.val())
+ .isNotNull(Task::getBusId)
);
- if (Cools.isEmpty(taskList)) { return; }
+ if (Cools.isEmpty(taskList)) {
+ return;
+ }
for (Task task : taskList) {
boolean finished = taskReportService.reportFinished(task);
if (finished) {
@@ -188,4 +224,131 @@
}
}
+
+ @Scheduled(cron = "0/3 * * * * ? ")
+ private synchronized 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(180).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�
+ * 鐘舵��1锛氬紑濮嬪厖鐢�
+ * 鐘舵��2锛氬厖鐢典腑
+ * 鐘舵��3锛氫汉涓烘搷浣滀笅鍙戞柇寮�鍏呯數鎿嶄綔
+ */
+ @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);
+ if (null == status) {
+ continue;
+ }
+ AgvDetail agvDetail = agvDetailService.selectByAgvNo(key);
+ if (agvDetail == null) {
+ log.error("{} 鍙峰緟鍏呯數灏忚溅涓嶅瓨鍦�", key);
+ continue;
+ }
+ if (agvDetail.getCode() == null) {
+ log.error("{} 鍙峰緟鍏呯數灏忚溅鏃犲湴鍧�鐮�", key);
+ continue;
+ }
+ FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
+ ModbusTCPMaster modbusTCPMaster = chargeService.get(funcSta.getUuid());
+ if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTCPMaster) {
+ continue;
+ }
+ int chargeMode = chargeCoreService.getChargeMode(modbusTCPMaster);
+ if (chargeMode != 0) {
+ log.info("{} 璇ュ厖鐢垫満涓嶆槸鑷姩鍏呯數妯″紡", chargeMode);
+ continue;
+ }
+ switch (status) {
+ case 1:
+ // 鍚庨��淇″彿娑堝け锛岃鏄庨┈杈炬鍦ㄥ墠杩�
+ if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
+ log.info("鍙戦�佸厖鐢垫満鍏呯數鎸囦护锛氳溅鍙凤細{}", agvDetail.getAgvId$());
+ chargeCoreService.startCharging(modbusTCPMaster);
+ continue;
+ }
+ if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
+ double current = chargeCoreService.getCurrent(modbusTCPMaster);
+ double voltage = chargeCoreService.getVoltage(modbusTCPMaster);
+ if (current > 0 && voltage > 0) {
+ redis.setMap(RedisConstant.AGV_CHARGE_FLAG, key, 2);
+ log.info("charge start:{}", agvDetail.getAgvId$());
+ } else {
+ log.info("read charge current and voltage: {},{}", current, voltage);
+ }
+ } else {
+ log.info("鍓嶈繘鍒颁綅淇″彿澶辫触锛氳溅鍙凤細{}", agvDetail.getAgvId$());
+ }
+ break;
+
+ case 2:
+ // 濡傛灉鍏呯數鏈哄畬鎴愬厖鐢典細鑷姩鏂紑
+ // 浣嗗厖鐢垫爣璇嗗搱鍦ㄧ紦瀛樹腑锛岄偅涔堥渶瑕佹竻闄ょ紦瀛樻爣璁�
+ // 鑾峰彇鍏呯數鏈虹紪鍙蜂笖鍚庨��鍒颁綅淇″彿瀛樺湪锛岄偅涔堣鏄庢満姊拌噦宸茬粡浼稿洖锛岄偅涔堝氨闇�瑕佹竻闄ょ紦瀛�
+ if (chargeCoreService.getChargeId(modbusTCPMaster) > 0 && chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
+ redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ log.info("charge over By Auto:{}", agvDetail.getAgvId$());
+ }else {
+ AgvModel agvModel = agvModelService.getByAgvId(agvDetail.getAgvId());
+ if (agvDetail.getSoc() >= agvModel.getQuaBattery()) {
+ // 鍓嶈繘淇″彿瀛樺湪锛岃鏄庢満姊拌噦鏈几鍥�
+ if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
+ log.info("鍙戦�佸厖鐢垫満鏂厖鎸囦护锛氳溅鍙凤細{}", agvDetail.getAgvId$());
+ chargeCoreService.stopCharging(modbusTCPMaster);
+ continue;
+ }
+ if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
+ redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ log.info("charge over:{}", agvDetail.getAgvId$());
+ } else {
+ log.info("鍚庨��鍒颁綅淇″彿澶辫触锛氳溅鍙凤細{}", agvDetail.getAgvId$());
+ }
+ }
+ }
+ break;
+// case 3:
+// // 鎵嬪姩鏂紑鍏呯數
+// // 鍓嶈繘淇″彿瀛樺湪锛岃鏄庢満姊拌噦鏈几鍥�
+// if (chargeCoreService.checkForwardRelayOnline(modbusTCPMaster)) {
+// log.info("鍙戦�佸厖鐢垫満鎵嬪姩鏂厖鎸囦护锛氳溅鍙凤細{}", agvDetail.getAgvId$());
+// chargeCoreService.stopCharging(modbusTCPMaster);
+// continue;
+// }
+// if (chargeCoreService.checkBackwardRelayOffline(modbusTCPMaster)) {
+// redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
+// log.info("charge over by handle:{}", agvDetail.getAgvId$());
+// } else {
+// log.info("鎵嬪姩鍚庨��鍒颁綅淇″彿澶辫触锛氳溅鍙凤細{}", agvDetail.getAgvId$());
+// }
+// break;
+ default:
+ log.error("charge status error: {}", status);
+ break;
+ }
+ }
+ }
+
+
}
--
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