package com.zy.acs.manager.core;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.manager.common.domain.TaskDto;
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import com.zy.acs.manager.core.service.MainService;
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import com.zy.acs.manager.core.service.MapService;
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import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.BusStsType;
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import com.zy.acs.manager.manager.enums.LocStsType;
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import com.zy.acs.manager.manager.enums.TaskStsType;
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import com.zy.acs.manager.manager.enums.TaskTypeType;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.system.controller.BaseController;
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import com.zy.acs.manager.system.service.ConfigService;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.framework.common.R;
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import com.zy.acs.framework.common.SnowflakeIdWorker;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.scheduling.annotation.Scheduled;
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import org.springframework.web.bind.annotation.GetMapping;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RequestParam;
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import org.springframework.web.bind.annotation.RestController;
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import java.util.ArrayList;
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import java.util.Collections;
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import java.util.List;
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/**
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* Created by vincent on 2023/6/20
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*/
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@RestController
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@RequestMapping("/test")
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public class TestController extends BaseController {
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@Autowired
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private BusService busService;
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@Autowired
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private MainService mainService;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private MapService mapService;
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/*
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TRUNCATE man_bus;
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TRUNCATE man_task;
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TRUNCATE man_action;
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UPDATE man_loc SET loc_sts = 16 WHERE loc_sts = 18;
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UPDATE man_loc SET loc_sts = 15 WHERE loc_sts = 17;
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*/
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@Value("${auto.move}")
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private Boolean autoMove;
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@Value("${auto.demo}")
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private Boolean autoDemo;
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@Value("${auto.demo1}")
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private Boolean autoDemo1;
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@Value("${auto.demo2}")
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private Boolean autoDemo2;
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@Value("${auto.size}")
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private Integer autoSize;
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@Autowired
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private LocService locService;
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@Autowired
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private ConfigService configService;
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// http://localhost:9090/test/auto/move
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@GetMapping("/auto/move")
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public R autoMove() {
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this.autoMove = !this.autoMove;
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return R.ok().add(Cools.add("autoMove", this.autoMove));
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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private void move1() throws InterruptedException {
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if (!this.autoMove) { return; }
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Agv agv = agvService.selectByUuid("1");
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getAgvId, agv.getId())
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.and(i -> {
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i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
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.or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
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.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
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})) > 0) {
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return;
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}
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if (!agvService.judgeEnable(agv.getId())) {
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return;
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}
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Code randomCode = this.getRandomCode(agvDetail);
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if (null == randomCode) {
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return;
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}
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if (mainService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, randomCode.getData())) {
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System.out.println(agv.getUuid() + "开始走行演示...");
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}
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}
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// @Scheduled(cron = "0 */3 * * * ? ")
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@Scheduled(cron = "0/1 * * * * ? ")
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private void move2() throws InterruptedException {
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if (!this.autoMove) { return; }
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Agv agv = agvService.selectByUuid("2");
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getAgvId, agv.getId())
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.and(i -> {
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i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
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.or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
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.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
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})) > 0) {
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return;
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}
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if (!agvService.judgeEnable(agv.getId())) {
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return;
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}
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Code randomCode = this.getRandomCode(agvDetail);
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if (null == randomCode) {
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return;
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}
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if (mainService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, randomCode.getData())) {
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System.out.println(agv.getUuid() + "开始走行演示...");
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}
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}
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public Code getRandomCode(AgvDetail agvDetail) {
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Code startCode = codeService.getById(agvDetail.getRecentCode());
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List<String> notInCodeList = new ArrayList<>();
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notInCodeList.add("00000024");
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notInCodeList.add("00000025");
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notInCodeList.add("00000026");
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notInCodeList.add("00000027");
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notInCodeList.add("00000028");
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notInCodeList.add("00000029");
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notInCodeList.add("00000023");
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notInCodeList.add("00000035");
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List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));
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Collections.shuffle(list);
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for (Code endCode : list) {
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List<String> pathList = mapService.validFeasibility(startCode, endCode);
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if (pathList.size() >= 5) {
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return endCode;
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}
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}
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return list.stream().findFirst().orElse(null);
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}
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// http://localhost:9090/test/auto?size=1
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@GetMapping("/auto")
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public R auto(@RequestParam(value = "size", required = false) Integer size) {
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if (null != size) {
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this.autoSize = size;
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}
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this.autoDemo = !this.autoDemo;
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return R.ok(Cools.add("autoDemo", this.autoDemo));
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}
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@Scheduled(cron = "0/1 * * * * ? ")
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private void demo() throws InterruptedException {
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if (!this.autoDemo) { return; }
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int busLimit = configService.getVal("busLimit", Integer.class);
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if (autoSize != null) {
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busLimit = autoSize;
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}
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busLimit = 2;
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AgvModel agvModel = agvModelService.list(new LambdaQueryWrapper<>()).stream().findFirst().orElse(null);
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if (null != agvModel) {
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busLimit = agvModel.getBackpack() * 2;
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}
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// 在库
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int stock = 0;
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List<Loc> stockList = locService.list(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getLocSts, LocStsType.STOCK.val())
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.ge(Loc::getRow, 1)
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.le(Loc::getRow, 2)
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);
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Collections.shuffle(stockList);
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if (stockList.size() > busLimit) {
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stockList = stockList.subList(0, busLimit);
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}
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stock = stockList.size();
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if (stock == 0) { return;}
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// 空闲
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List<Loc> idleList = locService.list(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getLocSts, LocStsType.IDLE.val())
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.ge(Loc::getRow, 1)
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.le(Loc::getRow, 2)
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);
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Collections.shuffle(idleList);
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if (idleList.size() > stock) {
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idleList = idleList.subList(0, stock);
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}
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if (stockList.size() == idleList.size()) {
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OpenBusSubmitParam param = new OpenBusSubmitParam();
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param.setBatch("batchNo");
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for (int i = 0; i < stock; i++) {
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Loc stockLoc = stockList.get(i);
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Loc idleLoc = idleList.get(i);
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TaskDto taskDto = new TaskDto();
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taskDto.setOriLoc(stockLoc.getLocNo());
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taskDto.setDestLoc(idleLoc.getLocNo());
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taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
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param.getTaskList().add(taskDto);
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}
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if (Cools.isEmpty(busService.selectBySts(BusStsType.RECEIVE, "autoDemo"))
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&& Cools.isEmpty(busService.selectBySts(BusStsType.PROGRESS, "autoDemo"))
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) {
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mainService.generateBusAndTask(param, "autoDemo");
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}
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}
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}
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// http://localhost:9090/test/auto1?size=1
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@GetMapping("/auto1")
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public R auto1(@RequestParam(value = "size", required = false) Integer size) {
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if (null != size) {
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this.autoSize = size;
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}
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this.autoDemo1 = !this.autoDemo1;
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return R.ok(Cools.add("autoDemo", this.autoDemo1));
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}
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@Scheduled(cron = "0/3 * * * * ? ")
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private void demo1() throws InterruptedException {
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if (!this.autoDemo1) { return; }
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int busLimit = configService.getVal("busLimit", Integer.class);
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if (autoSize != null) {
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busLimit = autoSize;
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}
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// 在库
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int stock = 0;
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List<Loc> stockList = locService.list(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getLocSts, LocStsType.STOCK.val())
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.ge(Loc::getRow, 1)
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.le(Loc::getRow, 2)
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);
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Collections.shuffle(stockList);
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if (stockList.size() > busLimit) {
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stockList = stockList.subList(0, busLimit);
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}
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stock = stockList.size();
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if (stock == 0) { return;}
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// 空闲
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List<Loc> idleList = locService.list(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getLocSts, LocStsType.IDLE.val())
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.ge(Loc::getRow, 1)
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.le(Loc::getRow, 2)
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);
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Collections.shuffle(idleList);
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if (idleList.size() > stock) {
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idleList = idleList.subList(0, stock);
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}
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if (stockList.size() == idleList.size()) {
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OpenBusSubmitParam param = new OpenBusSubmitParam();
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param.setBatch("batchNo");
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for (int i = 0; i < stock; i++) {
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Loc stockLoc = stockList.get(i);
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Loc idleLoc = idleList.get(i);
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TaskDto taskDto = new TaskDto();
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taskDto.setOriLoc(stockLoc.getLocNo());
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taskDto.setDestLoc(idleLoc.getLocNo());
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taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
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param.getTaskList().add(taskDto);
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}
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if (Cools.isEmpty(busService.selectBySts(BusStsType.RECEIVE, "autoDemo1"))
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&& Cools.isEmpty(busService.selectBySts(BusStsType.PROGRESS, "autoDemo1"))
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) {
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mainService.generateBusAndTask(param, "autoDemo1");
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}
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}
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}
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// http://localhost:9090/test/auto2?size=1
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@GetMapping("/auto2")
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public R auto2(@RequestParam(value = "size", required = false) Integer size) {
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if (null != size) {
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this.autoSize = size;
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}
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this.autoDemo2 = !this.autoDemo2;
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return R.ok(Cools.add("autoDemo", this.autoDemo2));
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}
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@Scheduled(cron = "0/3 * * * * ? ")
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private void demo2() throws InterruptedException {
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if (!this.autoDemo2) { return; }
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int busLimit = configService.getVal("busLimit", Integer.class);
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if (autoSize != null) {
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busLimit = autoSize;
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}
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// 在库
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int stock = 0;
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List<Loc> stockList = locService.list(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getLocSts, LocStsType.STOCK.val())
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.ge(Loc::getRow, 3)
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.le(Loc::getRow, 4)
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);
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Collections.shuffle(stockList);
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if (stockList.size() > busLimit) {
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stockList = stockList.subList(0, busLimit);
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}
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stock = stockList.size();
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if (stock == 0) { return;}
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// 空闲
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List<Loc> idleList = locService.list(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getLocSts, LocStsType.IDLE.val())
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.ge(Loc::getRow, 3)
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.le(Loc::getRow, 4)
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);
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Collections.shuffle(idleList);
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if (idleList.size() > stock) {
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idleList = idleList.subList(0, stock);
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}
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if (stockList.size() == idleList.size()) {
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OpenBusSubmitParam param = new OpenBusSubmitParam();
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param.setBatch("batchNo");
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for (int i = 0; i < stock; i++) {
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Loc stockLoc = stockList.get(i);
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Loc idleLoc = idleList.get(i);
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TaskDto taskDto = new TaskDto();
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taskDto.setOriLoc(stockLoc.getLocNo());
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taskDto.setDestLoc(idleLoc.getLocNo());
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taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
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param.getTaskList().add(taskDto);
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}
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if (Cools.isEmpty(busService.selectBySts(BusStsType.RECEIVE, "autoDemo2"))
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&& Cools.isEmpty(busService.selectBySts(BusStsType.PROGRESS, "autoDemo2"))
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) {
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mainService.generateBusAndTask(param, "autoDemo2");
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}
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}
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}
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}
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