#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/MapController.java

@@ -13,6 +13,7 @@
import com.zy.acs.manager.common.domain.MapDto;
import com.zy.acs.manager.common.domain.MapRouteDto;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.PatrolService;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
@@ -20,11 +21,13 @@
import com.zy.acs.manager.manager.controller.param.MapParam;
import com.zy.acs.manager.manager.controller.result.MapAgvVo;
import com.zy.acs.manager.manager.controller.result.MapPointVo;
import com.zy.acs.manager.manager.entity.Map;
import com.zy.acs.manager.manager.controller.result.MapRouteVo;
import com.zy.acs.manager.manager.entity.NavMap;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.AgvStsType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.mapper.MapMapper;
import com.zy.acs.manager.manager.mapper.NavMapMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import com.zy.acs.manager.system.service.ConfigService;
@@ -60,13 +63,15 @@
    @Autowired
    private TaskService taskService;
    @Autowired
    private MapMapper mapMapper;
    private NavMapMapper navMapMapper;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private LocService locService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private PatrolService patrolService;

    @PreAuthorize("hasAuthority('manager:loc:update')")
    @PostMapping("/startupOrShutdown")
@@ -91,11 +96,11 @@
            mapCodeItems.add(mapItem);
        });
        // common
        Map activeMap = mapMapper.selectActive(zoneId, floor);
        NavMap activeNavMap = navMapMapper.selectActive(zoneId, floor);
        return R.ok().add(Cools
                .add("rcsStatus", configService.getVal("TaskAssignMode", Boolean.class))
                .add("point", GsonUtils.toJson(mapCodeItems))
                .add("common", activeMap.getData())
                .add("common", null != activeNavMap ? activeNavMap.getData() : null)
        );
    }

@@ -106,25 +111,25 @@
        Date now = new Date();
        Long userId = getLoginUserId();
        // previous
        Map previousMap = mapMapper.selectActive(param.getZoneId(), param.getFloor());
        if (null != previousMap) {
            previousMap.setActive(0);
            previousMap.setUpdateTime(now);
            previousMap.setUpdateBy(userId);
            if (0 == mapMapper.updateById(previousMap)) {
        NavMap previousNavMap = navMapMapper.selectActive(param.getZoneId(), param.getFloor());
        if (null != previousNavMap) {
            previousNavMap.setActive(0);
            previousNavMap.setUpdateTime(now);
            previousNavMap.setUpdateBy(userId);
            if (0 == navMapMapper.updateById(previousNavMap)) {
                throw new CoolException("Save Fail");
            }
        }
        // current
        Map map = new Map();
        map.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
        map.setZoneId(param.getZoneId());
        map.setFloor(param.getFloor());
        map.setData(GsonUtils.toJson(param.getItemList()));
        map.setActive(1);
        map.setUpdateBy(userId);
        map.setCreateBy(userId);
        if (0 == mapMapper.insert(map)) {
        NavMap navMap = new NavMap();
        navMap.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
        navMap.setZoneId(param.getZoneId());
        navMap.setFloor(param.getFloor());
        navMap.setData(GsonUtils.toJson(param.getItemList()));
        navMap.setActive(1);
        navMap.setUpdateBy(userId);
        navMap.setCreateBy(userId);
        if (0 == navMapMapper.insert(navMap)) {
            throw new CoolException("Save Fail");
        }
        return R.ok("Save Success");
@@ -156,9 +161,17 @@
            vo.setVol(String.valueOf(agvDetail.getVol()));
            vo.setSoc(String.valueOf(agvDetail.getSoc()));
            vo.setPos(agvDetail.getPos() != null && agvDetail.getPos() == 1);
            vo.setCode(codeService.getById(agvDetail.getRecentCode()).getData());
            Code code = codeService.getById(agvDetail.getRecentCode());
            if (null != code) {
                vo.setCode(code.getData());
            }
            vo.setDirection(agvDetail.getAgvAngle());
            vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
            vo.setPatrol(patrolService.isPatrolling(agvNo));
            String error = agvDetail.realError();
            if (!Cools.isEmpty(error)) {
                vo.setError(error);
            }
        }
        List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
        if (!Cools.isEmpty(tasks)) {
@@ -180,6 +193,23 @@
        return R.ok().add(vo);
    }

    @PostMapping("/route/list")
    public R routeList(@RequestParam(required = false) Long zoneId) {
        List<MapRouteVo> result = new ArrayList<>();
        List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, StatusType.ENABLE.val));
        for (Route route : routeList) {
            MapRouteVo vo = new MapRouteVo();
            vo.setRouteId(route.getId());
            vo.setStartCode(route.getStartCode());
            vo.setStartCodeStr(route.getStartCode$());
            vo.setEndCode(route.getEndCode());
            vo.setEndCodeStr(route.getEndCode$());
            vo.setDirection(route.getDirection());
            result.add(vo);
        }
        return R.ok().add(result);
    }