1

zhang

2025-06-17 21b80e79792b800eb3e409340d31be1354878a24

1

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

@@ -49,7 +49,6 @@
        navigation.getCodeList().forEach(codeDTO -> {

        });

        return null;
    }


 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/BackpackVo.java

New file
@@ -0,0 +1,29 @@
package com.zy.acs.manager.manager.controller.result;

import lombok.Data;

import java.io.Serializable;

/**
 * Created by vincent on 10/17/2024
 */
@Data
public class BackpackVo implements Serializable {

    private Integer index;

    private Boolean loaded;

    private Boolean execute;

    private String taskId;

    public BackpackVo() {
    }

    public BackpackVo(Integer index, Boolean loaded) {
        this.index = index;
        this.loaded = loaded;
    }

}

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/OpenAgvInfo.java

@@ -1,5 +1,6 @@
package com.zy.acs.manager.manager.controller.result;

import com.zy.acs.manager.core.domain.BackpackDto;
import lombok.Data;

import java.util.List;
@@ -28,7 +29,7 @@
     */
    private String error;

    private List<Backpack> backpack;
    private List<BackpackVo> backpack;
    /**
     * 当前所在位置
     */

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java

@@ -20,6 +20,8 @@

    List<Segment> getByAgvAndState(Long agvId, String state);

    List<Segment> getByAgvAndTaskAndBackpack(Long agvId,List<Long> taskIds, Integer backpack);

    List<String> getGroupNo(SegmentStateType state, Long agvId, String groupNo);

    List<Segment> getRunningByEndCode(Long codeId);

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/OpenAlgorithmServiceImpl.java

@@ -1,18 +1,20 @@
package com.zy.acs.manager.manager.service.impl;

import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.manager.controller.param.OpenAgvParam;
import com.zy.acs.manager.manager.controller.result.BackpackVo;
import com.zy.acs.manager.manager.controller.result.OpenAgvInfo;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.OpenAlgorithmService;
import com.zy.acs.manager.manager.service.TaskService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;

@Service("openAlgorithmService")
public class OpenAlgorithmServiceImpl implements OpenAlgorithmService {
@@ -24,22 +26,50 @@
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private AgvService agvService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private ConfigService configService;


    @Override
    public List<OpenAgvInfo> listAgv(OpenAgvParam param) {
        List<AgvDetail> list = agvDetailService.list();
        List<Agv> agvList = agvService.list();
        List<OpenAgvInfo> result = new ArrayList<>();
        for (AgvDetail agvDetail : list) {
            taskService.findTransportTasksByAgv(agvDetail.getId());
        AgvDetail agvDetail;
        AgvModel agvModel;
        for (Agv agv : agvList) {
            agvDetail = agvDetailService.getById(agv.getId());
            List<Task> taskList = taskService.findTransportTasksByAgv(agvDetail.getId());
            agvModel = agvModelService.getByAgvId(agv.getAgvModel());
            OpenAgvInfo info = new OpenAgvInfo();
            info.setAgvNo(agvDetail.getUuid());
            info.setStatus(agvDetail.getStatus());
            info.setDirection(agvDetail.getAgvAngle());
            info.setPosition(agvDetail.getCode$() );
            info.setDirection(agvDetail.getAgvAngle());
            info.setVol(agvDetail.getVol());
            //info.setEmpty(agvDetail.getBackpack());
            info.setEmpty(agvModel.getBackpack() - (taskList == null ? 0 : taskList.size()));
            info.setError(agvDetail.getError());
            info.setLowVol(agvModel.getLowBattery());
            info.setAutoCharge(agvModel.getQuaBattery());
            List<BackpackVo> backpackVos = new ArrayList<>();
            BackpackVo backpackVo;
            List<Long> taskIds = taskList.stream().map(Task::getId).collect(Collectors.toList());
            List<BackpackDto> backpackDtos = GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class);
            for (int i = 0; i < agvModel.getBackpack(); i++) {
                BackpackDto backpackDto = backpackDtos.get(i);
                backpackVo = new BackpackVo();
                List<Segment> segments = segmentService.getByAgvAndTaskAndBackpack(agvDetail.getAgvId(), taskIds, backpackVo.getIndex());
                for (Segment segment : segments) {
                    backpackVo.setTaskId(segment.getTaskId() + "");
                }
                backpackVo.setIndex(i);
                backpackVo.setLoaded(backpackDto.getLoaded());
                backpackVo.setExecute(segments.stream().anyMatch(segment -> segment.getState().equals(SegmentStateType.RUNNING.toString())));
                backpackVos.add(backpackVo);
            }
            info.setBackpack(backpackVos);
            result.add(info);
        }
        return result;

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java

@@ -105,6 +105,16 @@
    }

    @Override
    public List<Segment> getByAgvAndTaskAndBackpack(Long agvId,List<Long> taskIds, Integer backpack) {
        return this.list(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getAgvId, agvId)
                .eq(Segment::getBackpack, backpack)
                .in(Segment::getTaskId, taskIds)
                .orderByAsc(Segment::getSerial)
        );
    }

    @Override
    public List<String> getGroupNo(SegmentStateType state, Long agvId, String groupNo) {
        return this.baseMapper.getGroupNo(state.toString(), agvId, groupNo);
    }