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zhang
2025-05-20 1313906bb1eb983d3beece810035e7fc28d6a92f 
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java


@@ -7,10 +7,7 @@


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.entity.Code;


import com.zy.acs.manager.manager.entity.FuncSta;


import com.zy.acs.manager.manager.entity.*;


import com.zy.acs.manager.manager.enums.FuncStaType;


import com.zy.acs.manager.manager.enums.StatusType;


import com.zy.acs.manager.manager.service.*;


@@ -19,8 +16,10 @@


import org.springframework.jdbc.core.JdbcTemplate;


import org.springframework.web.bind.annotation.*;




import java.util.ArrayList;


import java.util.Collections;


import java.util.List;


import java.util.stream.Collectors;




/**


 * Created by vincent on 11/15/2024


@@ -61,10 +60,65 @@


    private RouteGenerator routeGenerator;


    @Autowired


    private FuncStaService funcStaService;


    @Autowired


    private AgvModelService agvModelService;




    @RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})


    public R systemInfo() {


        return R.ok("RCS-FLOW-1.0.0");


    }




    // {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}


    // {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}


    @RequestMapping(value = "/system/demo", method = {RequestMethod.GET, RequestMethod.POST})


    public R demo() {


        long startTime = System.currentTimeMillis();


        for (int i = 0; i < 1000; i++) {


            this.demo1();


        }


        System.out.println(System.currentTimeMillis() - startTime);


        return R.ok();


    }




    private R demo1() {


        List<String> path = new ArrayList<>();


        path.add("00000035");


        path.add("00000085");


        path.add("00000135");


        path.add("00000185");


        path.add("00000235");


        path.add("00000234");


        path.add("00000233");


        path.add("00000232");


        path.add("00000231");


        path.add("00000230");


        path.add("00000229");


        path.add("00000228");


        path.add("00000227");


        path.add("00000226");


        path.add("00000225");


        path.add("00000224");


        path.add("00000223");


        path.add("00000222");




//        List<int[]> codeMatrixIdxList = new ArrayList<>();


//        for (String pathStr : path) {


//            int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, pathStr);


//            codeMatrixIdxList.add(codeMatrixIdx);


//        }




//        List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, path);




//        System.out.println(codeMatrixIdxList.toString());




//        return R.ok().add(codeMatrixIdxList);




        for (String codeData : path) {


            Code code = codeService.getCacheByData(codeData);


            Code byId = codeService.getCacheById(code.getId());


        }




        return R.ok();


    }




//    @RequestMapping(value = "/system/route/generate", method = {RequestMethod.GET, RequestMethod.POST})


@@ -83,20 +137,24 @@


                .eq(FuncSta::getType, FuncStaType.STANDBY.toString())


                .orderByAsc(FuncSta::getId));




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


        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val).    orderByAsc(Agv::getId));




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


        int size = Math.min(standbyFunStaList.size(), agvList.size());




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




            FuncSta funcSta = standbyFunStaList.get(i);


            Code code = codeService.getById(funcSta.getCode());


            Code code = codeService.getCacheById(funcSta.getCode());




            Agv agv = agvList.get(i);


            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());


            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());


            Double workDirection = agvModel.getWorkDirection();




            agvDetail.setPos(1);


            agvDetail.setCode(code.getId());


            agvDetail.setStatus(AgvStatusType.IDLE.val);


            agvDetail.setAgvAngle(90D);


            agvDetail.setAgvAngle(workDirection);


            agvDetail.setVol(5000);




            agvDetailService.updateById(agvDetail);


@@ -105,25 +163,25 @@


        avoidWaveCalculator.calcDynamicNodeWhenBoot();




//        AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");


//        agvDetail11.setCode(codeService.selectByData("00000251").getId());


//        agvDetail11.setCode(codeService.getCacheByData("00000251").getId());


//        agvDetailService.updateById(agvDetail11);


//


//        AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");


//        agvDetail12.setCode(codeService.selectByData("00000204").getId());


//        agvDetail12.setCode(codeService.getCacheByData("00000204").getId());


//        agvDetailService.updateById(agvDetail12);


//


//        AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");


//        agvDetail14.setCode(codeService.selectByData("00000101").getId());


//        agvDetail14.setCode(codeService.getCacheByData("00000101").getId());


//        agvDetailService.updateById(agvDetail14);


//


//        avoidWaveCalculator.calcDynamicNodeWhenBoot();


//


//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,


//                codeService.selectByData("00000303").getData(), null);


//                codeService.getCacheByData("00000303").getData(), null);


//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,


//                codeService.selectByData("00000411").getData(), null);


//                codeService.getCacheByData("00000411").getData(), null);


//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,


//                codeService.selectByData("00000403").getData(), null);


//                codeService.getCacheByData("00000403").getData(), null);




        return R.ok();


    }


@@ -132,13 +190,47 @@


    @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));




        // stop


        if (count == 0) {


            for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {


                if (patrolService.isPatrolling(agvNo)) {


                    patrolService.shutdownPatrol(agvNo);


                }


            }


            return R.ok();


        }




        // start


        Collections.shuffle(list);


        List<Agv> agvs = list.subList(0, count);


        if (list.size() > count) {


            list = list.subList(0, count);


        }


        int result = 0;


        for (Agv agv : agvs) {


        for (Agv agv : list) {


            patrolService.startupPatrol(agv.getUuid());


            result++;


        }


        return R.ok().add(result);


    }






    @Autowired


    private MapService mapService;


    @Autowired


    private SegmentService segmentService;




    @GetMapping("/astarDemo") // astar spend time: 3866, count:3855


    public R astarDemo() {


        long startTime = System.currentTimeMillis();


        List<String> path = mapService.checkoutPath("18"


                , codeService.getCacheByData("00001318")


                , codeService.getCacheByData("00003447")


                , true


                , new ArrayList<>()


                , segmentService.getById(1390));


        System.out.println("demo spend time: " + (System.currentTimeMillis() - startTime));


        return R.ok().add(path);


    }




}