zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java
@@ -37,4 +37,10 @@ public static final String AGV_TRAFFIC_JAM_FLAG = "AGV_TRAFFIC_JAM_FLAG"; public static final String MAP_FLOYD_MATRIX_HEADER_FLAG = "MAP_FLOYD_MATRIX_HEADER_FLAG"; public static final String MAP_FLOYD_MATRIX_PATH_FLAG = "MAP_FLOYD_MATRIX_PATH_FLAG"; public static final String MAP_FLOYD_MATRIX_FLAG = "MAP_FLOYD_MATRIX_FLAG"; } zy-acs-manager/src/main/java/com/zy/acs/manager/core/DispatcherTestController.java
File was deleted zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
@@ -8,10 +8,7 @@ import com.zy.acs.framework.common.SnowflakeIdWorker; import com.zy.acs.manager.common.domain.param.HandlerPublishParam; import com.zy.acs.manager.common.exception.BusinessException; import com.zy.acs.manager.core.service.AvoidWaveCalculator; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.ThreadPoolRegulator; import com.zy.acs.manager.core.service.TrafficService; import com.zy.acs.manager.core.service.*; import com.zy.acs.manager.core.service.astart.MapDataDispatcher; import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.ActionStsType; zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
File was renamed from zy-acs-manager/src/main/java/com/zy/acs/manager/core/PatrolService.java @@ -1,9 +1,8 @@ package com.zy.acs.manager.core; package com.zy.acs.manager.core.service; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.framework.common.R; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.core.service.MapService; import com.zy.acs.manager.manager.entity.Agv; import com.zy.acs.manager.manager.entity.AgvDetail; import com.zy.acs.manager.manager.entity.Code; @@ -36,7 +35,7 @@ private static final int SCHEDULE_TIME_INTERVAL = 1; private static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>(); private final RedisSupport redis = RedisSupport.defaultRedisSupport; private ScheduledExecutorService scheduler = null; @Autowired zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/floyd/FloydNavigateService.java
@@ -1,7 +1,13 @@ package com.zy.acs.manager.core.service.floyd; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.TypeReference; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.acs.common.constant.RedisConstant; import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.framework.common.Cools; import com.zy.acs.manager.common.exception.BusinessException; import com.zy.acs.manager.core.service.astart.MapDataDispatcher; import com.zy.acs.manager.manager.entity.Code; import com.zy.acs.manager.manager.entity.CodeGap; import com.zy.acs.manager.manager.entity.Route; @@ -26,6 +32,8 @@ public class FloydNavigateService { public static final double INF = 999999.0; private final RedisSupport redis = RedisSupport.defaultRedisSupport; @Autowired private CodeService codeService; @@ -67,6 +75,18 @@ @SuppressWarnings("all") @PostConstruct public void generateMatrix() { Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV; String floydHeaderMatrixStr = redis.getValue(RedisConstant.MAP_FLOYD_MATRIX_HEADER_FLAG, String.valueOf(lev)); String floydPathMatrixStr = redis.getValue(RedisConstant.MAP_FLOYD_MATRIX_PATH_FLAG, String.valueOf(lev)); String floydMatrixStr = redis.getValue(RedisConstant.MAP_FLOYD_MATRIX_FLAG, String.valueOf(lev)); if (!Cools.isEmpty(floydMatrixStr) && !Cools.isEmpty(floydPathMatrixStr) && !Cools.isEmpty(floydHeaderMatrixStr)) { this.matrixHeader = JSON.parseObject(floydHeaderMatrixStr, new TypeReference<ArrayList<Long>>() {}); this.pathMatrix = JSON.parseObject(floydPathMatrixStr, int[][].class); this.floydMatrix = JSON.parseObject(floydMatrixStr, Double[][].class); } else { log.info("【FLOYD】正在计算矩阵数据......"); List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1).eq(Code::getDeleted, false)); @@ -103,6 +123,11 @@ floydMatrix = this.floydAlgorithm(adjacencyMatrix); redis.setValue(RedisConstant.MAP_FLOYD_MATRIX_HEADER_FLAG, String.valueOf(lev), JSON.toJSONString(matrixHeader)); redis.setValue(RedisConstant.MAP_FLOYD_MATRIX_PATH_FLAG, String.valueOf(lev), JSON.toJSONString(pathMatrix)); redis.setValue(RedisConstant.MAP_FLOYD_MATRIX_FLAG, String.valueOf(lev), JSON.toJSONString(floydMatrix)); } } /** zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/MapController.java
@@ -13,7 +13,7 @@ import com.zy.acs.manager.common.domain.MapDto; import com.zy.acs.manager.common.domain.MapRouteDto; import com.zy.acs.manager.common.exception.BusinessException; import com.zy.acs.manager.core.PatrolService; import com.zy.acs.manager.core.service.PatrolService; import com.zy.acs.manager.core.domain.BackpackDto; import com.zy.acs.manager.core.service.MapService; import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
