#

luxiaotao1123

2025-01-09 fa565c2d9dd77f4d5ccea1a8fb56feb1b864e2a7

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -31,6 +31,7 @@
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
import com.zy.acs.manager.manager.utils.ActionSorter;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -93,6 +94,8 @@
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;
    @Autowired
    private ActionSorter actionSorter;


    @SuppressWarnings("all")
@@ -520,7 +523,7 @@
                    }
                    break;
                case MOVE:
                    endCode = codeService.selectByData(destination);
                    endCode = codeService.getCacheByData(destination);
                    break;
                default:
                    return false;
@@ -669,7 +672,6 @@
            }

            boolean first = true;
            long startTime = System.currentTimeMillis();
            for (Segment segment : segmentList) {

                // 分段所属的Task
@@ -690,7 +692,7 @@

                        String next = pathListPart.get(i);

                        Code nextCode = codeService.selectByData(next);
                        Code nextCode = codeService.getCacheByData(next);
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                        boolean reverse = false;
@@ -968,7 +970,6 @@
                }

            }
            System.out.println("save data: " + (System.currentTimeMillis() - startTime));

            // finish
            actionList.add(new Action(
@@ -987,11 +988,12 @@
                    now    // 工作时间
            ));

            List<Action> newActionList = new ArrayList<>(actionList);
//            List<Action> newActionList = new ArrayList<>(actionList);

//            List<Action> optimizeList = actionService.optimizeSort(actionList);

//            List<Action> newActionList = new ArrayList<>(optimizeList);
            List<Action> optimizeList = actionSorter.optimizeSort(actionList);
            List<Action> newActionList = new ArrayList<>(optimizeList);


            String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);
@@ -1021,7 +1023,7 @@
                }
            }

            log.info(agvNo + "号Agv动作组装完成，指令数量：" + newActionList.size());
            log.info("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size());
        } catch (Exception e) {
            log.error("mainService.generateAction", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();