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zhang

4 天以前 50afd615ec83e0e141991ef0658b19087cd8fd86

1

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

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package com.zy.acs.manager.manager.controller;

import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.manager.common.annotation.OperationLog;
import com.zy.acs.manager.manager.controller.param.OpenAgvParam;
import com.zy.acs.manager.manager.service.OpenAlgorithmService;
import com.zy.acs.manager.system.controller.BaseController;
import io.swagger.annotations.Api;
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;

/**
 * Created by vincent on 2023/6/12
 */
@Api(tags = "Open Api")
@RestController
@RequestMapping("/api/open/algorithm")
public class OpenAlgorithmController extends BaseController {

    @Autowired
    private OpenAlgorithmService openAlgorithmService;


    @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");
        }
        return R.ok(openAlgorithmService.listAgv(param));
    }

}

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/param/OpenAgvParam.java

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package com.zy.acs.manager.manager.controller.param;

import com.zy.acs.manager.common.domain.TaskDto;
import lombok.Data;

import java.util.ArrayList;
import java.util.List;

/**
 * Created by vincent on 2023/6/12
 */
@Data
public class OpenAgvParam {

    private String agvId;


    private String mapId;
}

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

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package com.zy.acs.manager.manager.controller.result;

import lombok.Data;

import java.util.List;

@Data
public class OpenAgvInfo {

    /**
     * AGV编号
     */
    private String agvNo;
    /*
     * 状态
     */
    private Integer status;
    /**
     * 当前电量
     */
    private Integer vol;
    /**
     * 当前方向
     */
    private Double direction;
    /**
     * 错误信息
     */
    private String error;

    private List<Backpack> backpack;
    /**
     * 当前所在位置
     */
    private String position;
    /**
     * 剩余空闲
     */
    private Integer empty;
    /**
     * 自动充电
     */
    private Integer autoCharge;
    /**
     * 低电量
     */
    private Integer lowVol;

    @Data
    public class Backpack {
        private Integer index;

        private Boolean loaded;

        private Boolean execute;

        private String taskId;
    }
}

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

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package com.zy.acs.manager.manager.service;

import com.zy.acs.manager.manager.controller.param.OpenAgvParam;
import com.zy.acs.manager.manager.controller.result.OpenAgvInfo;

import java.util.List;

public interface OpenAlgorithmService {

    List<OpenAgvInfo> listAgv(OpenAgvParam param);
}

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

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package com.zy.acs.manager.manager.service.impl;

import com.zy.acs.manager.manager.controller.param.OpenAgvParam;
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.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.List;

@Service("openAlgorithmService")
public class OpenAlgorithmServiceImpl implements OpenAlgorithmService {

    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private ConfigService configService;


    @Override
    public List<OpenAgvInfo> listAgv(OpenAgvParam param) {
        List<AgvDetail> list = agvDetailService.list();
        List<OpenAgvInfo> result = new ArrayList<>();
        for (AgvDetail agvDetail : list) {
            taskService.findTransportTasksByAgv(agvDetail.getId())
            OpenAgvInfo info = new OpenAgvInfo();
            info.setAgvNo(agvDetail.getUuid());
            info.setStatus(agvDetail.getStatus());
            info.setDirection(agvDetail.getAgvAngle());
            info.setPosition(agvDetail.getCode$() );
            info.setVol(agvDetail.getVol());
            //info.setEmpty(agvDetail.getBackpack());
            result.add(info);
        }
        return result;
    }


}