#

vincentlu

2025-12-19 5df75043553ecb5ffec80b6380bf1202d4f8c570

#

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

@@ -13,6 +13,7 @@
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
@@ -87,10 +88,27 @@
    @PostMapping("/patrol/batch/startup")
    public synchronized R patrolBatchStartup() {
        List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(MapDataDispatcher.MAP_DEFAULT_LEV);
        int result = 0;
        for (Agv agv : list) {
            patrolService.startupPatrol(agv.getUuid());
            result++;
            String agvNo = agv.getUuid();

            boolean inMap = false;
            label: for (int i = 0; i < dynamicMatrix.length; i++) {
                for (int j = 0; j < dynamicMatrix[i].length; j++) {
                    DynamicNode dynamicNode = dynamicMatrix[i][j];
                    String vehicle = dynamicNode.getVehicle();
                    if (agvNo.equals(vehicle)) {
                        inMap = true;
                        break label;
                    }
                }
            }

            if (inMap) {
                patrolService.startupPatrol(agvNo);
                result++;
            }
        }
        return R.ok().add(result);
    }