#

luxiaotao1123

2025-01-08 aa6f20d98b5d8e18ae56f9562a78d403a5417b48

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

@@ -22,6 +22,7 @@
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.stream.Collectors;

/**
 * Created by vincent on 11/15/2024
@@ -68,6 +69,52 @@
        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);
    }

//    @RequestMapping(value = "/system/route/generate", method = {RequestMethod.GET, RequestMethod.POST})
//    public R generate() {
//        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
@@ -106,25 +153,25 @@
        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();
    }
@@ -133,6 +180,18 @@
    @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;
@@ -153,8 +212,8 @@
    public R astarDemo() {
        long startTime = System.currentTimeMillis();
        List<String> path = mapService.checkoutPath("18"
                , codeService.selectByData("00001318")
                , codeService.selectByData("00003447")
                , codeService.getCacheByData("00001318")
                , codeService.getCacheByData("00003447")
                , true
                , new ArrayList<>()
                , segmentService.getById(1390));