#

luxiaotao1123

2024-10-18 9c5567aaa3bd765e350a9a9773ca510f76410210

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

@@ -7,30 +7,32 @@
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.constant.MapItemType;
import com.zy.acs.manager.common.domain.MapAgvDto;
import com.zy.acs.manager.common.domain.MapCodeDto;
import com.zy.acs.manager.common.domain.MapDto;
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.MapService;
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.entity.Map;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.AgvStsType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.mapper.MapMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import java.util.Arrays;
import java.util.Date;
import java.util.Iterator;
import java.util.List;
import java.util.*;
import java.util.stream.Collectors;

/**
 * Created by vincent on 2023/6/1
@@ -54,17 +56,35 @@
    @Autowired
    private MapService mapService;
    @Autowired
    private ConfigService configService;
    private TaskService taskService;
    @Autowired
    private MapMapper mapMapper;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private LocService locService;

    @PreAuthorize("hasAuthority('manager:loc:list')")
    @PostMapping("/data/fetch")
    public R fetch(@RequestParam(required = false) Long zoneId, @RequestParam(required = false) Integer floor) {
        // code
        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1));
        List<MapItem> mapCodeItems = new ArrayList<>();
        codeList.forEach(code -> {
            MapItem mapItem = new MapItem();
            mapItem.setType(MapItemType.POINT.toString());
            mapItem.setNo(code.getData());
            mapItem.setUuid(code.getUuid());
            mapItem.setPositionX(code.getX());
            mapItem.setPositionY(code.getY());
            mapCodeItems.add(mapItem);
        });
        // common
        Map activeMap = mapMapper.selectActive(zoneId, floor);
        return R.ok().add(activeMap);
        return R.ok().add(Cools
                .add("point", GsonUtils.toJson(mapCodeItems))
                .add("common", activeMap.getData())
        );
    }

    @PreAuthorize("hasAuthority('manager:loc:update')")
@@ -98,6 +118,42 @@
        return R.ok("Save Success");
    }

    @PostMapping("/shelf/group")
    public R shelfGroup(@RequestParam(required = false) Integer row, @RequestParam(required = false) Integer bay) {
        if (null == row || null == bay) {
            return R.error();
        }
        List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getRow, row).eq(Loc::getBay, bay).orderByAsc(Loc::getLev));
        return R.ok().add(locList);
    }

    @PostMapping("/agv/info")
    public R agvInfo(@RequestParam(required = false) String agvNo) {
        if (Cools.isEmpty(agvNo)) {
            return R.error();
        }
        Agv agv = agvService.selectByUuid(agvNo);
        AgvDetail agvDetail = agvDetailService.selectByAgvNo(agvNo);
        MapAgvVo vo = new MapAgvVo();
        vo.setAgvId(agv.getId());
        vo.setAgvNo(agv.getUuid());
        vo.setStatus(agv.getStatus());
        if (null != agvDetail) {
            vo.setOnline(agvService.judgeOnline(agvDetail.getAgvId()));
            vo.setAgvStatus(agvDetail.getStatusDesc());
            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());
            vo.setDirection(agvDetail.getAgvAngle());
            vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
        }
        List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
        if (!Cools.isEmpty(tasks)) {
            vo.setTaskIds(tasks.stream().map(Task::getId).collect(Collectors.toList()));
        }
        return R.ok().add(vo);
    }