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#
vincentlu
2025-01-13 9d803fd9429f424648adab46d25f6c0bb49747ee 
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java


@@ -1,18 +1,28 @@


package com.zy.acs.manager.core;




import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;


import com.zy.acs.common.enums.AgvStatusType;


import com.zy.acs.framework.common.R;


import com.zy.acs.framework.common.SnowflakeIdWorker;


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.enums.TaskTypeType;


import com.zy.acs.manager.manager.entity.Code;


import com.zy.acs.manager.manager.entity.FuncSta;


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.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


@@ -49,33 +59,173 @@


    private AvoidWaveCalculator avoidWaveCalculator;


    @Autowired


    private PatrolService patrolService;


    @Autowired


    private RouteGenerator routeGenerator;


    @Autowired


    private FuncStaService funcStaService;




    @RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})


    public R systemInfo() {


        return R.ok("RCS-FLOW-1.0.0");


    }




    @GetMapping("/dead/lock")


    public R aaa() {


        AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");


        agvDetail11.setCode(codeService.selectByData("00000251").getId());


        agvDetailService.updateById(agvDetail11);


    // {"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();


    }




        AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");


        agvDetail12.setCode(codeService.selectByData("00000204").getId());


        agvDetailService.updateById(agvDetail12);


    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");




        AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");


        agvDetail14.setCode(codeService.selectByData("00000101").getId());


        agvDetailService.updateById(agvDetail14);


//        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})


//    public R generate() {


//        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);


//        List<String> list = routeGenerator.generateRoutes(codeMatrix);


//        return R.ok(String.valueOf(list.size())).add(list);


//    }




    // http://localhost:8088/demo/auto/go/standby


    @GetMapping("/auto/go/standby")


    public R autoGoStandby() {




        List<FuncSta> standbyFunStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()


                .eq(FuncSta::getStatus, StatusType.ENABLE.val)


                .eq(FuncSta::getType, FuncStaType.STANDBY.toString())


                .orderByAsc(FuncSta::getId));




        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().orderByAsc(Agv::getId));




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




            FuncSta funcSta = standbyFunStaList.get(i);


            Code code = codeService.getCacheById(funcSta.getCode());




            Agv agv = agvList.get(i);


            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());




            agvDetail.setPos(1);


            agvDetail.setCode(code.getId());


            agvDetail.setStatus(AgvStatusType.IDLE.val);


            agvDetail.setAgvAngle(90D);


            agvDetail.setVol(5000);




            agvDetailService.updateById(agvDetail);


        }




        avoidWaveCalculator.calcDynamicNodeWhenBoot();






        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,


                codeService.selectByData("00000303").getData(), null);


        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,


                codeService.selectByData("00000411").getData(), null);


        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,


                codeService.selectByData("00000403").getData(), null);


//        AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");


//        agvDetail11.setCode(codeService.getCacheByData("00000251").getId());


//        agvDetailService.updateById(agvDetail11);


//


//        AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");


//        agvDetail12.setCode(codeService.getCacheByData("00000204").getId());


//        agvDetailService.updateById(agvDetail12);


//


//        AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");


//        agvDetail14.setCode(codeService.getCacheByData("00000101").getId());


//        agvDetailService.updateById(agvDetail14);


//


//        avoidWaveCalculator.calcDynamicNodeWhenBoot();


//


//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,


//                codeService.getCacheByData("00000303").getData(), null);


//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,


//                codeService.getCacheByData("00000411").getData(), null);


//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,


//                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);


        List<Agv> agvs = list.subList(0, count);


        int result = 0;


        for (Agv agv : agvs) {


            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);


    }




}