1

zhang

2025-07-03 13ea8b334572c2423abb8d156fd8428f8d074172

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

@@ -1,24 +1,23 @@
package com.zy.acs.manager.manager.controller;

import com.zy.acs.framework.common.Cools;
import com.alibaba.fastjson.JSONObject;
import com.zy.acs.framework.common.R;
import com.zy.acs.manager.common.annotation.OperationLog;
import com.zy.acs.manager.core.service.MainZkdService;
import com.zy.acs.manager.core.third.zkd.dto.Navigation;
import com.zy.acs.manager.manager.controller.param.OpenAgvParam;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.OpenAlgorithmService;
import com.zy.acs.manager.system.controller.BaseController;
import io.swagger.annotations.Api;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.bind.annotation.*;

/**
 * Created by vincent on 2023/6/12
 */
@Api(tags = "Open Api")
//@Api(tags = "Open Api")
@Slf4j
@RestController
@RequestMapping("/api/open/algorithm")
public class OpenAlgorithmController extends BaseController {
@@ -27,29 +26,39 @@
    private OpenAlgorithmService openAlgorithmService;

    @Autowired
    private MainZkdService mainZkdService;

    @Autowired
    private AgvService agvService;

    @Autowired
    private CodeService codeService;

    @GetMapping("/demo")
    public R demo() {
        return R.ok("demo");
    }

    @PostMapping("/getAgv")
    @OperationLog("get agv msg")
    public R save(@RequestBody OpenAgvParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("不能为空");
        }
        if (Cools.isEmpty(param.getMapId())) {
            return R.error("地图编号不能为空");
        }
//    @OperationLog("get agv msg")
    public R save(@RequestBody(required = false) OpenAgvParam param) {
//        if (Cools.isEmpty(param)) {
//            return R.error("不能为空");
//        }
//        if (Cools.isEmpty(param.getMapId())) {
//            return R.error("地图编号不能为空");
//        }
        return R.ok(openAlgorithmService.listAgv(param));
    }



    @RequestMapping("/zkd/navigation/v1")
    public Object navigation(@RequestBody Navigation navigation) {
        String agvId = navigation.getAgvId();
        navigation.getCodeList().forEach(codeDTO -> {

        });
        return null;
    public Object navigation(@RequestBody String data) {
        log.info("收到的导航信息：{}", data);
        Navigation navigation = JSONObject.parseObject(data, Navigation.class);
        Long agvId = agvService.getAgvId(navigation.getAgvId());
        mainZkdService.buildMajorTask(agvId, navigation);
        return R.ok();
    }

}