#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

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

@@ -5,6 +5,8 @@
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;
import com.zy.acs.manager.manager.entity.AgvDetail;
@@ -14,6 +16,7 @@
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.JamService;
import lombok.extern.slf4j.Slf4j;

import java.util.List;
@@ -29,6 +32,8 @@
    private final AgvDetailService agvDetailService;
    private final ActionService actionService;
    private final CodeService codeService;
    private final MapService mapService;
    private final JamService jamService;
    private final List<Action> actionList;

    private final RedisSupport redis;
@@ -41,6 +46,8 @@
            , AgvDetailService agvDetailService
            , ActionService actionService
            , CodeService codeService
            , MapService mapService
            , JamService jamService
            , List<Action> actionList
    ) {
        this.agv = agv;
@@ -48,6 +55,8 @@
        this.agvDetailService = agvDetailService;
        this.actionService = actionService;
        this.codeService = codeService;
        this.mapService = mapService;
        this.jamService = jamService;
        this.actionList = actionList;

        this.groupId = actionList.get(0).getGroupId();
@@ -78,6 +87,7 @@

        switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
            case TurnCorner:
                simulateWalking(agv, agvDetail, action);
                simulateRotating(agv, agvDetail, action);
                break;
            case StraightBackUnturnable:
@@ -99,23 +109,21 @@


    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());

        // 模拟电量消耗
//        agvDetail.setVol(agvDetail.getVol() - 0.1 * distanceToMove); // 根据距离消耗电量

        Thread.sleep(MapDataWsScheduler.WEBSOCKET_BROADCAST_INTERVAL);

        agvDetailService.updateById(agvDetail);

        Thread.sleep(1000);
        mapService.unlockPath(agv.getUuid(), code.getData());
        jamService.checkIfFinish(agv.getId(), code.getData());

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


    }

    /**
@@ -126,34 +134,13 @@
     * @param action     当前动作
     */
    private void simulateRotating(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
//        Double agvAngle = agvDetail.getAgvAngle();
//        double actionAngle = Double.parseDouble(action.getParams());
        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 totalAngle = Double.parseDouble(action.getParams()); // 假设Action有angle属性
        double stepAngle = 45.0; // 每秒旋转15度，具体值根据需求调整
        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

            // 更新AGV详细信息
            agvDetailService.updateById(agvDetail);

            // 模拟实际执行时间
            Thread.sleep(1000); // 每秒执行一次

            actionProgress += angleToRotate;
        }

        // 动作完成，更新状态
        Thread.sleep(MapDataWsScheduler.WEBSOCKET_BROADCAST_INTERVAL);
        agvDetailService.updateById(agvDetail);
        action.setActionSts(ActionStsType.FINISH.val());
        actionService.updateById(action);
    }