#

vincentlu

2025-12-26 ccbf73034e8a7c5867d3b58e115013527283ee76

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

@@ -8,10 +8,12 @@
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.annotation.OperationLog;
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.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -27,6 +29,7 @@
import java.util.List;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.ExecutionException;
import java.util.stream.Collectors;

/**
 * Created by vincent on 8/1/2024
@@ -70,16 +73,59 @@
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private PatrolService patrolService;
    @Autowired
    private StaReserveService staReserveService;

    @PreAuthorize("hasAuthority('manager:loc:update')")
    @PostMapping("/rePositionAllAgv")
    public synchronized R rePositionAllAgv() {
    @PreAuthorize("hasAuthority('manager:agv:update')")
    @OperationLog("Locate All Agv")
    @PostMapping("/locateAllAgv")
    public synchronized R locateAllAgv() {
        final Integer MAP_DEFAULT_LEV = 1;
        redis.deleteValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(MAP_DEFAULT_LEV));
//        avoidWaveCalculator.calcDynamicNodeWhenBoot();
        avoidWaveCalculator.calcDynamicNodeWhenBoot();
        return R.ok();
    }

    @PreAuthorize("hasAuthority('manager:agv:update')")
    @PostMapping("/patrol/batch/startup")
    public synchronized R patrolBatchStartup() {
        List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(MapDataDispatcher.MAP_DEFAULT_LEV);
        int result = 0;
        for (Agv agv : list) {
            String agvNo = agv.getUuid();

            boolean inMap = false;
            label: for (int i = 0; i < dynamicMatrix.length; i++) {
                for (int j = 0; j < dynamicMatrix[i].length; j++) {
                    DynamicNode dynamicNode = dynamicMatrix[i][j];
                    String vehicle = dynamicNode.getVehicle();
                    if (agvNo.equals(vehicle)) {
                        inMap = true;
                        break label;
                    }
                }
            }

            if (inMap) {
                patrolService.startupPatrol(agvNo);
                result++;
            }
        }
        return R.ok().add(result);
    }

    @PreAuthorize("hasAuthority('manager:agv:update')")
    @PostMapping("/patrol/batch/shutdown")
    public synchronized R patrolBatchShutdown() {
        List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>());
        for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
            if (patrolService.isPatrolling(agvNo)) {
                patrolService.shutdownPatrol(agvNo);
            }
        }
        return R.ok();
    }

    @RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
    @Transactional
@@ -147,7 +193,7 @@
                    oriLoc = locService.getById(param.getStartLocNo());
                }
                if (!Cools.isEmpty(param.getStartLocNoStr())) {
                    oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
                    oriLoc = locService.selectByLocNo(param.getStartLocNoStr());
                }
                if (null == oriLoc) {
                    return R.error();
@@ -166,7 +212,7 @@
                    destLoc = locService.getById(param.getEndLocNo());
                }
                if (!Cools.isEmpty(param.getEndLocNoStr())) {
                    destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
                    destLoc = locService.selectByLocNo(param.getEndLocNoStr());
                }
                if (null == destLoc) {
                    return R.error();
@@ -194,7 +240,7 @@
                    oriLoc = locService.getById(param.getStartLocNo());
                }
                if (!Cools.isEmpty(param.getStartLocNoStr())) {
                    oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
                    oriLoc = locService.selectByLocNo(param.getStartLocNoStr());
                }
                if (null == oriLoc) {
                    return R.error();
@@ -218,13 +264,8 @@
                if (null == destSta) {
                    return R.error();
                }
                if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 不是无货状态");
                }
                destSta.setStaSts(StaStsType.READY_RELEASE.val());
                destSta.setUpdateTime(now);
                if (!staService.updateById(destSta)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 修改站点状态失败");
                if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 预约失败");
                }

                // task
@@ -246,13 +287,8 @@
                if (null == oriSta) {
                    return R.error();
                }
                if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 不是有货状态");
                }
                oriSta.setStaSts(StaStsType.READY_TAKE.val());
                oriSta.setUpdateTime(now);
                if (!staService.updateById(oriSta)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 修改站点状态失败");
                if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 预约失败");
                }

                // destLoc
@@ -260,7 +296,7 @@
                    destLoc = locService.getById(param.getEndLocNo());
                }
                if (!Cools.isEmpty(param.getEndLocNoStr())) {
                    destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
                    destLoc = locService.selectByLocNo(param.getEndLocNoStr());
                }
                if (null == destLoc) {
                    return R.error();
@@ -293,13 +329,8 @@
                if (null == oriSta) {
                    return R.error();
                }
                if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 不是有货状态");
                }
                oriSta.setStaSts(StaStsType.READY_TAKE.val());
                oriSta.setUpdateTime(now);
                if (!staService.updateById(oriSta)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 修改站点状态失败");
                if (null == staReserveService.reserveStaOut(oriSta, task, 1)) {
                    throw new BusinessException("oriSta：" + oriSta.getStaNo() + " 预约失败");
                }

                // destSta
@@ -312,13 +343,8 @@
                if (null == destSta) {
                    return R.error();
                }
                if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 不是无货状态");
                }
                destSta.setStaSts(StaStsType.READY_RELEASE.val());
                destSta.setUpdateTime(now);
                if (!staService.updateById(destSta)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 修改站点状态失败");
                if (null == staReserveService.reserveStaIn(destSta, task, 1)) {
                    throw new BusinessException("destSta：" + destSta.getStaNo() + " 预约失败");
                }

                // task