#

luxiaotao1123

2024-12-17 db576395617232b8526ff59cbb29014437af7c8c

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

@@ -1,18 +1,26 @@
package com.zy.acs.manager.core;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.FuncSta;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.bind.annotation.*;

import java.util.Collections;
import java.util.List;

/**
 * Created by vincent on 11/15/2024
@@ -49,33 +57,88 @@
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private PatrolService patrolService;
    @Autowired
    private RouteGenerator routeGenerator;
    @Autowired
    private FuncStaService funcStaService;

    @RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})
    public R systemInfo() {
        return R.ok("RCS-FLOW-1.0.0");
    }

    @GetMapping("/dead/lock")
    public R aaa() {
        AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
        agvDetail11.setCode(codeService.selectByData("00000251").getId());
        agvDetailService.updateById(agvDetail11);
//    @RequestMapping(value = "/system/route/generate", method = {RequestMethod.GET, RequestMethod.POST})
//    public R generate() {
//        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
//        List<String> list = routeGenerator.generateRoutes(codeMatrix);
//        return R.ok(String.valueOf(list.size())).add(list);
//    }

        AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
        agvDetail12.setCode(codeService.selectByData("00000204").getId());
        agvDetailService.updateById(agvDetail12);
    // http://localhost:8088/demo/auto/go/standby
    @GetMapping("/auto/go/standby")
    public R autoGoStandby() {

        AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
        agvDetail14.setCode(codeService.selectByData("00000101").getId());
        agvDetailService.updateById(agvDetail14);
        List<FuncSta> standbyFunStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
                .eq(FuncSta::getStatus, StatusType.ENABLE.val)
                .eq(FuncSta::getType, FuncStaType.STANDBY.toString())
                .orderByAsc(FuncSta::getId));

        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().orderByAsc(Agv::getId));

        for (int i = 0; i < standbyFunStaList.size(); i++) {

            FuncSta funcSta = standbyFunStaList.get(i);
            Code code = codeService.getById(funcSta.getCode());

            Agv agv = agvList.get(i);
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());

            agvDetail.setPos(1);
            agvDetail.setCode(code.getId());
            agvDetail.setStatus(AgvStatusType.IDLE.val);
            agvDetail.setAgvAngle(90D);
            agvDetail.setVol(5000);

            agvDetailService.updateById(agvDetail);
        }

        avoidWaveCalculator.calcDynamicNodeWhenBoot();


        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
                codeService.selectByData("00000303").getData(), null);
        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
                codeService.selectByData("00000411").getData(), null);
        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
                codeService.selectByData("00000403").getData(), null);
//        AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
//        agvDetail11.setCode(codeService.selectByData("00000251").getId());
//        agvDetailService.updateById(agvDetail11);
//
//        AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
//        agvDetail12.setCode(codeService.selectByData("00000204").getId());
//        agvDetailService.updateById(agvDetail12);
//
//        AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
//        agvDetail14.setCode(codeService.selectByData("00000101").getId());
//        agvDetailService.updateById(agvDetail14);
//
//        avoidWaveCalculator.calcDynamicNodeWhenBoot();
//
//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
//                codeService.selectByData("00000303").getData(), null);
//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
//                codeService.selectByData("00000411").getData(), null);
//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
//                codeService.selectByData("00000403").getData(), null);

        return R.ok();
    }

    // http://localhost:8088/demo/auto/go/patrol?count=10
    @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));
        Collections.shuffle(list);
        List<Agv> agvs = list.subList(0, count);
        int result = 0;
        for (Agv agv : agvs) {
            patrolService.startupPatrol(agv.getUuid());
            result++;
        }
        return R.ok().add(result);
    }
}