rcs-flow.git - Gitblit

			@@ -7,22 +7,19 @@
			import com.zy.acs.manager.core.service.*;
			import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
			import com.zy.acs.manager.core.utils.RouteGenerator;
			import com.zy.acs.manager.manager.entity.Agv;
			import com.zy.acs.manager.manager.entity.AgvDetail;
			import com.zy.acs.manager.manager.entity.Code;
			import com.zy.acs.manager.manager.entity.FuncSta;
			import com.zy.acs.manager.manager.entity.*;
			import com.zy.acs.manager.manager.enums.FuncStaType;
			import com.zy.acs.manager.manager.enums.StatusType;
			import com.zy.acs.manager.manager.service.*;
			import com.zy.acs.manager.system.controller.BaseController;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.jdbc.core.JdbcTemplate;
			import org.springframework.web.bind.annotation.GetMapping;
			import org.springframework.web.bind.annotation.RequestMapping;
			import org.springframework.web.bind.annotation.RequestMethod;
			import org.springframework.web.bind.annotation.RestController;
			import org.springframework.web.bind.annotation.*;

			import java.util.ArrayList;
			import java.util.Collections;
			import java.util.List;
			import java.util.stream.Collectors;

			/**
			* Created by vincent on 11/15/2024
			@@ -63,10 +60,65 @@
			private RouteGenerator routeGenerator;
			@Autowired
			private FuncStaService funcStaService;
			@Autowired
			private AgvModelService agvModelService;

			@RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})
			public R systemInfo() {
			return R.ok("RCS-FLOW-1.0.0");
			}

			// {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}
			// {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}
			@RequestMapping(value = "/system/demo", method = {RequestMethod.GET, RequestMethod.POST})
			public R demo() {
			long startTime = System.currentTimeMillis();
			for (int i = 0; i < 1000; i++) {
			this.demo1();
			}
			System.out.println(System.currentTimeMillis() - startTime);
			return R.ok();
			}

			private R demo1() {
			List<String> path = new ArrayList<>();
			path.add("00000035");
			path.add("00000085");
			path.add("00000135");
			path.add("00000185");
			path.add("00000235");
			path.add("00000234");
			path.add("00000233");
			path.add("00000232");
			path.add("00000231");
			path.add("00000230");
			path.add("00000229");
			path.add("00000228");
			path.add("00000227");
			path.add("00000226");
			path.add("00000225");
			path.add("00000224");
			path.add("00000223");
			path.add("00000222");

			// List<int[]> codeMatrixIdxList = new ArrayList<>();
			// for (String pathStr : path) {
			// int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, pathStr);
			// codeMatrixIdxList.add(codeMatrixIdx);
			// }

			// List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, path);

			// System.out.println(codeMatrixIdxList.toString());

			// return R.ok().add(codeMatrixIdxList);

			for (String codeData : path) {
			Code code = codeService.getCacheByData(codeData);
			Code byId = codeService.getCacheById(code.getId());
			}

			return R.ok();
			}

			// @RequestMapping(value = "/system/route/generate", method = {RequestMethod.GET, RequestMethod.POST})
			@@ -85,20 +137,24 @@
			.eq(FuncSta::getType, FuncStaType.STANDBY.toString())
			.orderByAsc(FuncSta::getId));

			List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().orderByAsc(Agv::getId));
			List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val). orderByAsc(Agv::getId));

			for (int i = 0; i < standbyFunStaList.size(); i++) {
			int size = Math.min(standbyFunStaList.size(), agvList.size());

			for (int i = 0; i < size; i++) {

			FuncSta funcSta = standbyFunStaList.get(i);
			Code code = codeService.getById(funcSta.getCode());
			Code code = codeService.getCacheById(funcSta.getCode());

			Agv agv = agvList.get(i);
			AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
			AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
			Double workDirection = agvModel.getWorkDirection();

			agvDetail.setPos(1);
			agvDetail.setCode(code.getId());
			agvDetail.setStatus(AgvStatusType.IDLE.val);
			agvDetail.setAgvAngle(90D);
			agvDetail.setAgvAngle(workDirection);
			agvDetail.setVol(5000);

			agvDetailService.updateById(agvDetail);
			@@ -107,27 +163,74 @@
			avoidWaveCalculator.calcDynamicNodeWhenBoot();

			// AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
			// agvDetail11.setCode(codeService.selectByData("00000251").getId());
			// agvDetail11.setCode(codeService.getCacheByData("00000251").getId());
			// agvDetailService.updateById(agvDetail11);
			//
			// AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
			// agvDetail12.setCode(codeService.selectByData("00000204").getId());
			// agvDetail12.setCode(codeService.getCacheByData("00000204").getId());
			// agvDetailService.updateById(agvDetail12);
			//
			// AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
			// agvDetail14.setCode(codeService.selectByData("00000101").getId());
			// agvDetail14.setCode(codeService.getCacheByData("00000101").getId());
			// agvDetailService.updateById(agvDetail14);
			//
			// avoidWaveCalculator.calcDynamicNodeWhenBoot();
			//
			// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
			// codeService.selectByData("00000303").getData(), null);
			// codeService.getCacheByData("00000303").getData(), null);
			// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
			// codeService.selectByData("00000411").getData(), null);
			// codeService.getCacheByData("00000411").getData(), null);
			// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
			// codeService.selectByData("00000403").getData(), null);
			// codeService.getCacheByData("00000403").getData(), null);

			return R.ok();
			}

			// http://localhost:8088/demo/auto/go/patrol?count=10
			@GetMapping("/auto/go/patrol")
			public R autoGoPatrol(@RequestParam(required = false, defaultValue = "5") Integer count) {
			List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));

			// stop
			if (count == 0) {
			for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
			if (patrolService.isPatrolling(agvNo)) {
			patrolService.shutdownPatrol(agvNo);
			}
			}
			return R.ok();
			}

			// start
			Collections.shuffle(list);
			if (list.size() > count) {
			list = list.subList(0, count);
			}
			int result = 0;
			for (Agv agv : list) {
			patrolService.startupPatrol(agv.getUuid());
			result++;
			}
			return R.ok().add(result);
			}


			@Autowired
			private MapService mapService;
			@Autowired
			private SegmentService segmentService;

			@GetMapping("/astarDemo") // astar spend time: 3866, count:3855
			public R astarDemo() {
			long startTime = System.currentTimeMillis();
			List<String> path = mapService.checkoutPath("18"
			, codeService.getCacheByData("00001318")
			, codeService.getCacheByData("00003447")
			, true
			, new ArrayList<>()
			, segmentService.getById(1390));
			System.out.println("demo spend time: " + (System.currentTimeMillis() - startTime));
			return R.ok().add(path);
			}

			}