1

zhang

2 天以前 2a6e27f1c0064690d6fc6ab137d64c02fc0742da

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

@@ -8,6 +8,7 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.annotation.OperationLog;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.*;
@@ -27,6 +28,7 @@
import java.util.List;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.ExecutionException;
import java.util.stream.Collectors;

/**
 * Created by vincent on 8/1/2024
@@ -71,15 +73,39 @@
    @Autowired
    private PatrolService patrolService;

    @PreAuthorize("hasAuthority('manager:loc:update')")
    @PostMapping("/rePositionAllAgv")
    public synchronized R rePositionAllAgv() {
    @PreAuthorize("hasAuthority('manager:agv:update')")
    @OperationLog("Locate All Agv")
    @PostMapping("/locateAllAgv")
    public synchronized R locateAllAgv() {
        final Integer MAP_DEFAULT_LEV = 1;
        redis.deleteValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(MAP_DEFAULT_LEV));
//        avoidWaveCalculator.calcDynamicNodeWhenBoot();
        avoidWaveCalculator.calcDynamicNodeWhenBoot();
        return R.ok();
    }

    @PreAuthorize("hasAuthority('manager:agv:update')")
    @PostMapping("/patrol/batch/startup")
    public synchronized R patrolBatchStartup() {
        List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        int result = 0;
        for (Agv agv : list) {
            patrolService.startupPatrol(agv.getUuid());
            result++;
        }
        return R.ok().add(result);
    }

    @PreAuthorize("hasAuthority('manager:agv:update')")
    @PostMapping("/patrol/batch/shutdown")
    public synchronized R patrolBatchShutdown() {
        List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>());
        for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
            if (patrolService.isPatrolling(agvNo)) {
                patrolService.shutdownPatrol(agvNo);
            }
        }
        return R.ok();
    }

    @RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
    @Transactional
@@ -108,10 +134,12 @@
            log.info(agv.getUuid() + "号AGV不可用，已经存在进行中的任务...");
            return R.error();
        }
        if (!agvService.judgeEnable(agv.getId())) {
        // zhangc 在用户手动控制时，需要用户主观判断，所以小车只要高于低电量阈值就可以手动控制，所以注释
        if (!agvService.judgeEnable(agv.getId(),true,true)) {
            log.info(agv.getUuid() + "号AGV不可用，任务无法计算...");
            return R.error();
        }


        // generate
        Loc oriLoc = null;
@@ -131,13 +159,13 @@
                if (null == endCode) {
                    return R.error();
                }
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null, true)) {
                    return R.error();
                }
                break;
            case TO_CHARGE:
            case TO_STANDBY:
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
                if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null, true)) {
                    return R.error();
                }
                break;