1

zhang

2025-09-05 1864f916e0359d0814416cf94feda3a3662ed193

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/MapController.java

@@ -14,18 +14,20 @@
import com.zy.acs.manager.common.domain.MapRouteDto;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.core.service.AvoidWaveCalculator;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.core.service.PatrolService;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.controller.param.MapDataParam;
import com.zy.acs.manager.manager.controller.param.MapParam;
import com.zy.acs.manager.manager.controller.result.MapAgvVo;
import com.zy.acs.manager.manager.controller.result.MapPointVo;
import com.zy.acs.manager.manager.controller.result.MapRouteVo;
import com.zy.acs.manager.manager.entity.Map;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.AgvStsType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.mapper.MapMapper;
import com.zy.acs.manager.manager.mapper.NavMapMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import com.zy.acs.manager.system.service.ConfigService;
@@ -61,13 +63,17 @@
    @Autowired
    private TaskService taskService;
    @Autowired
    private MapMapper mapMapper;
    private NavMapMapper navMapMapper;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private LocService locService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private PatrolService patrolService;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;

    @PreAuthorize("hasAuthority('manager:loc:update')")
    @PostMapping("/startupOrShutdown")
@@ -92,11 +98,11 @@
            mapCodeItems.add(mapItem);
        });
        // common
        Map activeMap = mapMapper.selectActive(zoneId, floor);
        NavMap activeNavMap = navMapMapper.selectActive(zoneId, floor);
        return R.ok().add(Cools
                .add("rcsStatus", configService.getVal("TaskAssignMode", Boolean.class))
                .add("point", GsonUtils.toJson(mapCodeItems))
                .add("common", activeMap.getData())
                .add("common", null != activeNavMap ? activeNavMap.getData() : null)
        );
    }

@@ -107,25 +113,25 @@
        Date now = new Date();
        Long userId = getLoginUserId();
        // previous
        Map previousMap = mapMapper.selectActive(param.getZoneId(), param.getFloor());
        if (null != previousMap) {
            previousMap.setActive(0);
            previousMap.setUpdateTime(now);
            previousMap.setUpdateBy(userId);
            if (0 == mapMapper.updateById(previousMap)) {
        NavMap previousNavMap = navMapMapper.selectActive(param.getZoneId(), param.getFloor());
        if (null != previousNavMap) {
            previousNavMap.setActive(0);
            previousNavMap.setUpdateTime(now);
            previousNavMap.setUpdateBy(userId);
            if (0 == navMapMapper.updateById(previousNavMap)) {
                throw new CoolException("Save Fail");
            }
        }
        // current
        Map map = new Map();
        map.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
        map.setZoneId(param.getZoneId());
        map.setFloor(param.getFloor());
        map.setData(GsonUtils.toJson(param.getItemList()));
        map.setActive(1);
        map.setUpdateBy(userId);
        map.setCreateBy(userId);
        if (0 == mapMapper.insert(map)) {
        NavMap navMap = new NavMap();
        navMap.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
        navMap.setZoneId(param.getZoneId());
        navMap.setFloor(param.getFloor());
        navMap.setData(GsonUtils.toJson(param.getItemList()));
        navMap.setActive(1);
        navMap.setUpdateBy(userId);
        navMap.setCreateBy(userId);
        if (0 == navMapMapper.insert(navMap)) {
            throw new CoolException("Save Fail");
        }
        return R.ok("Save Success");
@@ -157,9 +163,17 @@
            vo.setVol(String.valueOf(agvDetail.getVol()));
            vo.setSoc(String.valueOf(agvDetail.getSoc()));
            vo.setPos(agvDetail.getPos() != null && agvDetail.getPos() == 1);
            vo.setCode(codeService.getById(agvDetail.getRecentCode()).getData());
            Code code = codeService.getCacheById(agvDetail.getRecentCode());
            if (null != code) {
                vo.setCode(code.getData());
            }
            vo.setDirection(agvDetail.getAgvAngle());
            vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
            vo.setPatrol(patrolService.isPatrolling(agvNo));
            String error = agvDetail.realError();
            if (!Cools.isEmpty(error)) {
                vo.setError(error);
            }
        }
        List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
        if (!Cools.isEmpty(tasks)) {
@@ -173,7 +187,7 @@
        if (Cools.isEmpty(codeData)) {
            return R.error();
        }
        Code code = codeService.selectByData(codeData);
        Code code = codeService.getCacheByData(codeData);
        MapPointVo vo = new MapPointVo();
        vo.setCodeId(code.getId());
        vo.setCodeData(code.getData());
@@ -184,7 +198,7 @@
    @PostMapping("/route/list")
    public R routeList(@RequestParam(required = false) Long zoneId) {
        List<MapRouteVo> result = new ArrayList<>();
        List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, 1));
        List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, StatusType.ENABLE.val));
        for (Route route : routeList) {
            MapRouteVo vo = new MapRouteVo();
            vo.setRouteId(route.getId());
@@ -226,7 +240,7 @@
        List<Code> codes = codeService.list();
        List<Code> codeArr = param.getCodeArr();
        for (Code code : codeArr) {
            Code one = codeService.selectByData(code.getData());
            Code one = codeService.getCacheByData(code.getData());
            if (one == null) {
                if (!codeService.save(code)) {
                    throw new BusinessException(code.getData()+" save fail![Code]");
@@ -252,8 +266,8 @@

        List<MapParam.Route> routeArr = param.getRouteArr();
        for (MapParam.Route paramRoute : routeArr) {
            Code startCode = codeService.selectByData(paramRoute.getStartCode());
            Code endCode = codeService.selectByData(paramRoute.getEndCode());
            Code startCode = codeService.getCacheByData(paramRoute.getStartCode());
            Code endCode = codeService.getCacheByData(paramRoute.getEndCode());

            Route route = routeService.findByCodeOfBoth(startCode.getId(), endCode.getId());
            if (route == null) {
@@ -330,7 +344,7 @@
            if (Cools.isEmpty(agvParam.getPos())) {
                throw new BusinessException(agvParam.getAgvNo() + " agv not in position！");
            }
            Code code = codeService.selectByData(agvParam.getPos());
            Code code = codeService.getCacheByData(agvParam.getPos());
            Agv agv = agvService.selectByUuid(agvParam.getAgvNo());
            if (agv == null) {
                agv = new Agv();
@@ -415,7 +429,7 @@
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail) { continue; }
            Code currCode = codeService.getById(agvDetail.getCode());
            Code currCode = codeService.getCacheById(agvDetail.getCode());
            MapAgvDto agvDto = new MapAgvDto();
            agvDto.setUuid(agv.getUuid());
            agvDto.setCurrCode(currCode==null?null:currCode.getData());