#

luxiaotao1123

2025-03-18 85ecc4d9a9af134cdf447a2c27e65f1a75f265db

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -3,25 +3,20 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.AvoidWaveCalculator;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.core.service.ThreadPoolRegulator;
import com.zy.acs.manager.core.service.TrafficService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.enums.ActionStsType;
import com.zy.acs.manager.manager.enums.LocStsType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.ActionStsType;
import com.zy.acs.manager.manager.enums.LocStsType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
@@ -38,7 +33,7 @@
 */
@Slf4j
@RestController
@RequestMapping("/handler")
@RequestMapping("/api/handler")
public class HandlerController extends BaseController {

    public static final String APP_KEY = "xltys1995";
@@ -51,6 +46,8 @@
    private TaskService taskService;
    @Autowired
    private MainService mainService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
@@ -67,12 +64,14 @@
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private PatrolService patrolService;

    @RequestMapping(value = "/publish", method = {RequestMethod.GET, RequestMethod.POST})
    @RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
    @Transactional
    public R publish(@RequestHeader String appKey,
    public R controlAgv(@RequestHeader String appKey,
                     @RequestBody HandlerPublishParam param) {
        if (Cools.isEmpty(param.getAgvNo(), param.getTaskType(), appKey)) {
        if (Cools.isEmpty(param.getAgvNo(), param.getTaskMode(), appKey)) {
            return R.error();
        }
        if (!APP_KEY.equals(appKey)) {
@@ -101,36 +100,58 @@
        }

        // generate
        switch (param.getTaskType()) {
        switch (param.getTaskMode()) {
            case MOVE:
                if (Cools.isEmpty(param.getEndCode())) {
                Code endCode = null;
                if (!Cools.isEmpty(param.getEndCode())) {
                    endCode = codeService.getCacheById(param.getEndCode());
                }
                if (!Cools.isEmpty(param.getEndCodeStr())) {
                    endCode = codeService.getCacheByData(param.getEndCodeStr());
                }
                if (null == endCode) {
                    return R.error();
                }
                if (null == codeService.selectByData(param.getEndCode())) {
                    return R.error();
                }
                if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskType(), param.getEndCode())) {
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
                    return R.error();
                }
                break;
            case TO_CHARGE:
            case TO_STANDBY:
                if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskType(), null)) {
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
                    return R.error();
                }
                break;
            case LOC_TO_LOC:
                if (Cools.isEmpty(param.getStartLocNo(), param.getEndLocNo())) {
                    return R.error();
                // oriLoc
                Loc oriLoc = null;
                if (!Cools.isEmpty(param.getStartLocNo())) {
                    oriLoc = locService.getById(param.getStartLocNo());
                }
                Loc oriLoc = locService.selecatByLocNo(param.getStartLocNo());
                if (!Cools.isEmpty(param.getStartLocNoStr())) {
                    oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
                }
                if (null == oriLoc) {
                    return R.error();
                }
                Loc destLoc = locService.selecatByLocNo(param.getEndLocNo());
                if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                    throw new BusinessException("oriLoc：" + oriLoc.getLocNo() + " 不是在库状态");
                }
                // destLoc
                Loc destLoc = null;
                if (!Cools.isEmpty(param.getEndLocNo())) {
                    destLoc = locService.getById(param.getEndLocNo());
                }
                if (!Cools.isEmpty(param.getEndLocNoStr())) {
                    destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
                }
                if (null == destLoc) {
                    return R.error();
                }
                if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                    throw new BusinessException("destLoc：" + destLoc.getLocNo() + " 不是空闲状态");
                }


                // task
                Task task = new Task();
@@ -140,9 +161,11 @@
                task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));

                task.setOriLoc(oriLoc.getId());
                task.setOriCode(oriLoc.getCode());
                task.setDestLoc(destLoc.getId());
                task.setDestCode(destLoc.getCode());

                task.setTaskType(param.getTaskType().val());
                task.setTaskType(param.getTaskMode().val());
                task.setTaskSts(TaskStsType.WAITING.val());

                task.setPriority(999);
@@ -153,26 +176,16 @@
                }

                // loc
                oriLoc = locService.getById(task.getOriLoc());
                if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                    throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 不是在库状态");
                }
                oriLoc.setLocSts(LocStsType.PAKOUT.val());
                oriLoc.setUpdateTime(now);
                if (!locService.updateById(oriLoc)) {
                    throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 修改库位状态失败");
                }

                destLoc = locService.getById(task.getDestLoc());
                if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                    throw new BusinessException("destLoc：" + task.getDestLoc$() + " 不是空闲状态");
                }
                destLoc.setLocSts(LocStsType.PAKIN.val());
                destLoc.setUpdateTime(now);
                if (!locService.updateById(destLoc)) {
                    throw new BusinessException("destLoc：" + task.getDestLoc$() + " 修改库位状态失败");
                }

                break;
            default:
                break;
@@ -181,9 +194,8 @@
        return R.ok();
    }

    @RequestMapping(value = "/reset", method = {RequestMethod.GET, RequestMethod.POST})
    public R reset(@RequestHeader String appKey,
                              @RequestBody HandlerPublishParam param) {
    @RequestMapping(value = "/restore/agv", method = {RequestMethod.GET, RequestMethod.POST})
    public R restoreAgv(@RequestHeader String appKey, @RequestBody HandlerPublishParam param) {
        if (Cools.isEmpty(appKey)) {
            return R.error();
        }
@@ -194,6 +206,18 @@
        Agv agv = null;
        if (!Cools.isEmpty(param.getAgvNo())) {
            agv = agvService.selectByUuid(param.getAgvNo());
            List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
            if (!Cools.isEmpty(tasks)) {
                for (Task task : tasks) {
                    if (TaskTypeType.LOC_TO_LOC.toString().equals(task.getTaskTypeEl())
                            || TaskTypeType.LOC_TO_STA.toString().equals(task.getTaskTypeEl())
                            || TaskTypeType.STA_TO_LOC.toString().equals(task.getTaskTypeEl())
                            || TaskTypeType.STA_TO_STA.toString().equals(task.getTaskTypeEl())
                    ) {
                        return R.error("Restore Failed, because the agv has Tasks that are associated with Loc!");
                    }
                }
            }
        }

        if (null != agv) {
@@ -230,6 +254,8 @@
            return R.error();
        }

        Agv agv = agvService.selectByUuid(param.getAgvNo());

        // block
//        Future<R> future = threadPoolRegulator.getInstance().submit(() -> {
//            mapDataDispatcher.modifyDynamicMatrix(null, null, param.getAgvNo(), true);
@@ -240,6 +266,7 @@
        // non-block
        CompletableFuture<?> completableFuture = CompletableFuture.supplyAsync(() -> {
            mapDataDispatcher.modifyDynamicMatrix(null, null, param.getAgvNo(), true);
            avoidWaveCalculator.calcDynamicNodeByVehicle(agv, null);
            return R.ok();
        }, threadPoolRegulator.getInstance());

@@ -253,4 +280,21 @@
        return R.ok();
    }

    @RequestMapping(value = "/agv/patrol", method = {RequestMethod.GET, RequestMethod.POST})
    public R agvPatrol(@RequestHeader String appKey,
                        @RequestBody HandlerPublishParam param) throws ExecutionException, InterruptedException {
        if (Cools.isEmpty(param.getAgvNo(), appKey)) {
            return R.error();
        }
        if (!APP_KEY.equals(appKey)) {
            return R.error();
        }
        String agvNo = param.getAgvNo();
        if (patrolService.isPatrolling(agvNo)) {
            return patrolService.shutdownPatrol(agvNo);
        } else {
            return patrolService.startupPatrol(agvNo);
        }
    }

}