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.common.enums.AgvStatusType;
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import com.zy.acs.framework.common.R;
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import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
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import com.zy.acs.manager.core.service.AvoidWaveCalculator;
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import com.zy.acs.manager.core.service.MapService;
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import com.zy.acs.manager.core.service.PatrolService;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.FuncStaType;
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import com.zy.acs.manager.manager.enums.StaReserveType;
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import com.zy.acs.manager.manager.enums.StatusType;
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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 org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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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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import java.util.stream.Collectors;
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/**
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* Created by vincent on 11/15/2024
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*/
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@RestController
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@RequestMapping("/demo")
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public class DemoController extends BaseController {
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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 CodeService codeService;
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@Autowired
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private AvoidWaveCalculator avoidWaveCalculator;
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@Autowired
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private PatrolService patrolService;
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@Autowired
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private FuncStaService funcStaService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private StaService staService;
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// @Autowired
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// private ConveyorStationService siemensConveyorStationService;
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@Autowired
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private ConveyorStationService siemensConveyorStationService;
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@RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})
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public R systemInfo() {
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return R.ok("RCS-FLOW-1.0.0");
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}
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@RequestMapping(value = "/system/demo", method = {RequestMethod.GET, RequestMethod.POST})
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public R demo() {
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Sta sta = staService.selectByStaNo("1006");
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boolean b = siemensConveyorStationService.allowAgvWork(sta, null, null, StaReserveType.IN);
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return R.ok().add(b);
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}
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// http://localhost:8088/demo/auto/go/standby
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@GetMapping("/auto/go/standby")
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public R autoGoStandby() {
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List<FuncSta> standbyFunStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
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.eq(FuncSta::getStatus, StatusType.ENABLE.val)
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.eq(FuncSta::getType, FuncStaType.STANDBY.toString())
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.orderByAsc(FuncSta::getId));
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val). orderByAsc(Agv::getId));
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int size = Math.min(standbyFunStaList.size(), agvList.size());
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for (int i = 0; i < size; i++) {
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FuncSta funcSta = standbyFunStaList.get(i);
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Code code = codeService.getCacheById(funcSta.getCode());
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Agv agv = agvList.get(i);
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
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Double workDirection = agvModel.getWorkDirection();
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agvDetail.setPos(1);
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agvDetail.setCode(code.getId());
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agvDetail.setStatus(AgvStatusType.IDLE.val);
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agvDetail.setAgvAngle(workDirection);
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agvDetail.setVol(5000);
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agvDetail.setSoc(80);
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agvDetailService.updateById(agvDetail);
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}
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avoidWaveCalculator.calcDynamicNodeWhenBoot();
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// AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
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// agvDetail11.setCode(codeService.getCacheByData("00000251").getId());
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// agvDetailService.updateById(agvDetail11);
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//
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// AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
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// agvDetail12.setCode(codeService.getCacheByData("00000204").getId());
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// agvDetailService.updateById(agvDetail12);
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//
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// AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
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// agvDetail14.setCode(codeService.getCacheByData("00000101").getId());
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// agvDetailService.updateById(agvDetail14);
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//
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// avoidWaveCalculator.calcDynamicNodeWhenBoot();
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//
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// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
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// codeService.getCacheByData("00000303").getData(), null);
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// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
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// codeService.getCacheByData("00000411").getData(), null);
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// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
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// codeService.getCacheByData("00000403").getData(), null);
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return R.ok();
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}
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// http://localhost:8088/demo/auto/go/patrol?count=10
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@GetMapping("/auto/go/patrol")
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public R autoGoPatrol(@RequestParam(required = false, defaultValue = "5") Integer count) {
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List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
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// stop
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if (count == 0) {
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for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
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if (patrolService.isPatrolling(agvNo)) {
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patrolService.shutdownPatrol(agvNo);
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}
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}
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return R.ok();
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}
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// start
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Collections.shuffle(list);
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if (list.size() > count) {
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list = list.subList(0, count);
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}
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int result = 0;
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for (Agv agv : list) {
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patrolService.startupPatrol(agv.getUuid());
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result++;
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}
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return R.ok().add(result);
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}
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@Autowired
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private MapService mapService;
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@Autowired
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private SegmentService segmentService;
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@GetMapping("/astarDemo") // astar spend time: 3866, count:3855
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public R astarDemo() {
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long startTime = System.currentTimeMillis();
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List<String> path = mapService.checkoutPath("18"
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, codeService.getCacheByData("00001318")
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, codeService.getCacheByData("00003447")
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, true
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, new ArrayList<>()
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, segmentService.getById(1390));
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System.out.println("demo spend time: " + (System.currentTimeMillis() - startTime));
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return R.ok().add(path);
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}
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}
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