#

luxiaotao1123

2025-01-08 aa6f20d98b5d8e18ae56f9562a78d403a5417b48

 zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java

@@ -5,6 +5,7 @@
import com.zy.acs.common.domain.protocol.AGV_11_UP;
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.manager.core.scheduler.MapDataWsScheduler;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.manager.entity.Action;
import com.zy.acs.manager.manager.entity.Agv;
@@ -64,7 +65,6 @@
    @Override
    public void run() {
        try {
            FakeProcessor.AGV_PROCESSING_MAP.put(agv.getId(), true);
            String qrCode = null;
            for (Action action : actionList) {
                processAction(agv, action);
@@ -79,14 +79,11 @@
    }

    private void processAction(Agv agv, Action action) throws InterruptedException {
        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        if (agvDetail == null) {
            return;
        }

        switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
            case TurnCorner:
                simulateRotating(agv, agvDetail, action);
                simulateWalking(agv, action);
                simulateRotating(agv, action);
                break;
            case StraightBackUnturnable:
            case StraightBackTurnable:
@@ -94,7 +91,7 @@
            case StraightAheadTurnable:
            case FinishPath:
            case DockingCharge:
                simulateWalking(agv, agvDetail, action);
                simulateWalking(agv, action);
                break;
            case ReadyTakeFromShelvesLoc:
            case ReadyReleaseToShelvesLoc:
@@ -106,67 +103,39 @@
    }


    private void simulateWalking(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
        Code currCode = codeService.getById(agvDetail.getRecentCode());
        Code code = codeService.selectByData(action.getCode());

        agvDetail.setPos(1);
        agvDetail.setCode(code.getId());

    private void simulateWalking(Agv agv, Action action) throws InterruptedException {
        Code code = codeService.getCacheByData(action.getCode());
//        agvDetail.setPos(1);
//        agvDetail.setCode(code.getId());
        // 模拟电量消耗
//        agvDetail.setVol(agvDetail.getVol() - 0.1 * distanceToMove); // 根据距离消耗电量

        Thread.sleep(1000);
        Thread.sleep(MapDataWsScheduler.WEBSOCKET_BROADCAST_INTERVAL);

        agvDetailService.updateById(agvDetail);
        agvDetailService.updatePosCodeByAgvId(agv.getId(), code.getId());
//        agvDetailService.updateById(agvDetail);

        mapService.unlockPath(agv.getUuid(), code.getData());
        jamService.checkIfFinish(agv.getId(), code.getData());

        action.setActionSts(ActionStsType.FINISH.val());
        actionService.updateById(action);

    }

    /**
     * 模拟AGV旋转
     *
     * @param agv        当前AGV
     * @param agvDetail  AGV详细信息
     * @param action     当前动作
     */
    private void simulateRotating(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {

//        double totalAngle = Double.parseDouble(action.getParams());
//        double stepAngle = 90.0;
//        double actionProgress = 0.0;
//
//        while (actionProgress < totalAngle) {
//            double angleToRotate = Math.min(stepAngle, totalAngle - actionProgress);
//            // 更新AGV的角度
//            double newAngle = (agvDetail.getAgvAngle() + angleToRotate) % 360;
//            agvDetail.setAgvAngle(newAngle);
//
//            // 模拟电量消耗
////            agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 根据角度消耗电量
//
//            agvDetailService.updateById(agvDetail);
//
//            Thread.sleep(1000);
//
//            actionProgress += angleToRotate;
//        }

    private void simulateRotating(Agv agv, Action action) throws InterruptedException {
        double actionAngle = Double.parseDouble(action.getParams());
//        agvDetail.setAgvAngle(actionAngle);
        // 模拟电量消耗?
//        agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 根据角度消耗电量

        double newAngle = (agvDetail.getAgvAngle() + actionAngle) % 360;

        agvDetail.setAgvAngle(newAngle);

        Thread.sleep(1000);

        agvDetailService.updateById(agvDetail);

        Thread.sleep(MapDataWsScheduler.WEBSOCKET_BROADCAST_INTERVAL);
        agvDetailService.updateAngleByAgvId(agv.getId(), actionAngle);
        action.setActionSts(ActionStsType.FINISH.val());
        actionService.updateById(action);
    }