From 5d8216a8d79aeb7b22a86478580018a3d9628406 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期三, 08 四月 2026 11:14:08 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 272 ++++++++++++++++++++++++++++++++++++------------------
1 files changed, 180 insertions(+), 92 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 26ddb08..7df45fb 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
@@ -1,10 +1,18 @@
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.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.core.service.MainService;
+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.*;
import com.zy.acs.manager.manager.service.*;
@@ -14,10 +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.Objects;
import java.util.Optional;
+import java.util.Set;
/**
* judge whether agv go to funcSta which be charging or standby
@@ -36,7 +46,9 @@
@Autowired
private FuncStaService funcStaService;
@Autowired
- private MainService mainService;
+ private UplinkProperties uplinkProperties;
+ @Autowired
+ private MainLockWrapService mainLockWrapService;
@Autowired
private TaskService taskService;
@Autowired
@@ -45,14 +57,28 @@
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(){
+ 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)) {
@@ -62,24 +88,24 @@
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;
}
- mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
+ mainLockWrapService.buildMinorTask(agv.getId(), TaskTypeType.TO_CHARGE, null, null);
}
}
}
@@ -87,23 +113,32 @@
@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) {
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;
}
}
@@ -118,94 +153,67 @@
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;
+ }
// }
- mainService.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 = 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:
- if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- beIdle = false;
- } else {
- Task latestTask = taskService.findLatestTask(agv.getId(), null);
- if (null != latestTask
- && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
- && latestTask.getDestCode().equals(funcSta.getCode())
- ) {
- // 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 (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());
- })
- )) {
- beIdle = false;
- }
- break;
- case STANDBY:
- Task latestTask = taskService.findLatestTask(agv.getId(), null);
- if (null != latestTask
- && latestTask.getTaskType().equals(TaskTypeType.TO_STANDBY.val())
- && latestTask.getDestCode().equals(funcSta.getCode())
- ) {
- beIdle = false;
- }
- 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());
- })
- )) {
- beIdle = false;
- }
- break;
- default:
- break;
- }
+ boolean beIdle = funcStaService.isCanBeIdle(funcSta);
if (beIdle) {
funcSta.setState(FuncStaStateType.IDLE.toString());
funcSta.setUpdateTime(new Date());
@@ -216,4 +224,84 @@
}
}
+
+ @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);
+ if (null == status) {
+ continue;
+ }
+ AgvDetail agvDetail = agvDetailService.selectByAgvNo(key);
+ FuncSta funcSta = funcStaService.getByCodeAndType(agvDetail.getCode(), FuncStaType.CHARGE.toString());
+ ModbusRtuOverTcp modbusTcp = chargeService.get(funcSta.getUuid());
+ if (null == agvDetail || null == agvDetail.getSoc() || null == agvDetail.getAgvStatus() || funcSta == null || null == modbusTcp) {
+ 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(modbusTcp)) {
+ chargeCoreService.startCharging(modbusTcp);
+ }
+ if (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);
+ }
+ }
+ break;
+
+ case 2:
+ 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(modbusTcp)) {
+ chargeCoreService.stopCharging(modbusTcp);
+ }
+ if (chargeCoreService.checkBackwardRelayOffline(modbusTcp)) {
+ redis.deleteMap(RedisConstant.AGV_CHARGE_FLAG, key);
+ log.info("charge over");
+ }
+ }
+ break;
+ default:
+ log.error("charge status error: {}", status);
+ break;
+ }
+ }
+ }
+
+
}
--
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