#

luxiaotao1123

2025-01-08 aa6f20d98b5d8e18ae56f9562a78d403a5417b48

#

 zy-acs-fake/src/main/java/com/zy/acs/fake/AgvSimulatorTask.java

@@ -105,7 +105,7 @@


    private void simulateWalking(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
        Code code = codeService.selectByData(action.getCode());
        Code code = codeService.getCacheByData(action.getCode());
        agvDetail.setPos(1);
        agvDetail.setCode(code.getId());
        // 模拟电量消耗

 zy-acs-fake/src/main/java/com/zy/acs/fake/service/impl/JamServiceImpl.java

@@ -83,7 +83,7 @@
            return null;
        }
        Date now = new Date();
        Code code = codeService.selectByData(currCodeData);
        Code code = codeService.getCacheByData(currCodeData);
        List<Jam> jams = this.list(new LambdaQueryWrapper<Jam>()
                .eq(Jam::getAvoAgv, avoAgv)
                .eq(Jam::getAvoCode, code.getId())

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

@@ -153,25 +153,25 @@
        avoidWaveCalculator.calcDynamicNodeWhenBoot();

//        AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
//        agvDetail11.setCode(codeService.selectByData("00000251").getId());
//        agvDetail11.setCode(codeService.getCacheByData("00000251").getId());
//        agvDetailService.updateById(agvDetail11);
//
//        AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
//        agvDetail12.setCode(codeService.selectByData("00000204").getId());
//        agvDetail12.setCode(codeService.getCacheByData("00000204").getId());
//        agvDetailService.updateById(agvDetail12);
//
//        AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
//        agvDetail14.setCode(codeService.selectByData("00000101").getId());
//        agvDetail14.setCode(codeService.getCacheByData("00000101").getId());
//        agvDetailService.updateById(agvDetail14);
//
//        avoidWaveCalculator.calcDynamicNodeWhenBoot();
//
//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
//                codeService.selectByData("00000303").getData(), null);
//                codeService.getCacheByData("00000303").getData(), null);
//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
//                codeService.selectByData("00000411").getData(), null);
//                codeService.getCacheByData("00000411").getData(), null);
//        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
//                codeService.selectByData("00000403").getData(), null);
//                codeService.getCacheByData("00000403").getData(), null);

        return R.ok();
    }
@@ -212,8 +212,8 @@
    public R astarDemo() {
        long startTime = System.currentTimeMillis();
        List<String> path = mapService.checkoutPath("18"
                , codeService.selectByData("00001318")
                , codeService.selectByData("00003447")
                , codeService.getCacheByData("00001318")
                , codeService.getCacheByData("00003447")
                , true
                , new ArrayList<>()
                , segmentService.getById(1390));

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

@@ -107,7 +107,7 @@
                    endCode = codeService.getById(param.getEndCode());
                }
                if (!Cools.isEmpty(param.getEndCodeStr())) {
                    endCode = codeService.selectByData(param.getEndCodeStr());
                    endCode = codeService.getCacheByData(param.getEndCodeStr());
                }
                if (null == endCode) {
                    return R.error();

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/DigitalTwinDataScheduler.java

@@ -44,7 +44,7 @@
                    continue;
                }
                String codeData = codeMatrix[i][j];
                Code code = codeService.selectByData(codeData);
                Code code = codeService.getCacheByData(codeData);
                if (null == code) {
                    continue;
                }

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java

@@ -154,7 +154,7 @@
    private void sync(AGV_12_UP mesBody, AgvDetail detail) {
        detail.setStatus(mesBody.getStatus());

        Code code = codeService.selectByData(mesBody.getQrCode());
        Code code = codeService.getCacheByData(mesBody.getQrCode());
        if (null != code) {
            detail.setCode(code.getId());
            detail.setLastCode(null);
@@ -202,7 +202,7 @@
    private void sync(AGV_13_UP mesBody, AgvDetail detail) {
        detail.setStatus(mesBody.getStatus());

        Code code = codeService.selectByData(mesBody.getQrCode());
        Code code = codeService.getCacheByData(mesBody.getQrCode());
        if (null != code) {

            if (!detail.getAgvStatus().equals(AgvStatusType.CHARGE)) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneService.java

@@ -227,9 +227,9 @@
            return true;
        }

        Code parentCode = codeService.selectByData(parent);
        Code currentCode = codeService.selectByData(current);
        Code neighborCode = codeService.selectByData(neighbor);
        Code parentCode = codeService.getCacheByData(parent);
        Code currentCode = codeService.getCacheByData(current);
        Code neighborCode = codeService.getCacheByData(neighbor);

        double direction1 = this.calculateDirection(parentCode, currentCode);
        double direction2 = this.calculateDirection(currentCode, neighborCode);

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -520,7 +520,7 @@
                    }
                    break;
                case MOVE:
                    endCode = codeService.selectByData(destination);
                    endCode = codeService.getCacheByData(destination);
                    break;
                default:
                    return false;
@@ -690,7 +690,7 @@

                        String next = pathListPart.get(i);

                        Code nextCode = codeService.selectByData(next);
                        Code nextCode = codeService.getCacheByData(next);
                        Double nextDirection = mapService.calculateDirection(lastCode, nextCode, angleOffsetVal);

                        boolean reverse = false;

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java

@@ -150,7 +150,7 @@

                }

                Code code = codeService.selectByData(node.getCodeData());
                Code code = codeService.getCacheByData(node.getCodeData());

                // judge whether the node has already been marked as a retreat node?
                // This is a very troublesome matter, if the node be repeatedly mark as a retreat node

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java

@@ -148,7 +148,7 @@
            String lastCodeData = pathList.get(pathList.size() - 1);
            if (!endCode.getData().equals(lastCodeData)) {
                // slice
                Code lastCode = codeService.selectByData(lastCodeData);
                Code lastCode = codeService.getCacheByData(lastCodeData);

//                if (pathList.size() <= MIN_SLICE_PATH_LENGTH) {
//                    return;
@@ -329,7 +329,7 @@
                                    List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgvId);
                                    if (null != waitingSegList
                                            && waitingSegList.stream().anyMatch(
                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.getCacheByData(blockAgvCode).getId())
                                    )) {
                                        maxJamTimeoutFactor = 1;
                                        break;
@@ -494,7 +494,7 @@
        }

        String endCodeData = finalNode.getCodeData();
        Code endCode = codeService.selectByData(endCodeData);
        Code endCode = codeService.getCacheByData(endCodeData);

        List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
        if (!Cools.isEmpty(waitingSegList)) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java

@@ -251,7 +251,7 @@
                    cdaArr.add(yIdxList.get(i));
                    cdaMatrix[i][j] = JSON.toJSONString(cdaArr);
                } else {
                    Code currCode = codeService.selectByData(codeMatrix[i][j]);
                    Code currCode = codeService.getCacheByData(codeMatrix[i][j]);
                    if (null != currCode) {
                        List<Double> cdaArr = new ArrayList<>();
                        cdaArr.add(currCode.getX());
@@ -280,7 +280,7 @@
                if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
                    turnMatrix[i][j] = TurnNodeType.NONE.val;
                } else {
                    Code currCode = codeService.selectByData(codeMatrix[i][j]);
                    Code currCode = codeService.getCacheByData(codeMatrix[i][j]);
                    List<String> neighborCodeList = routeService.findCodeDataOfSingle(currCode.getId());

                    switch (neighborCodeList.size()) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/RouteGenerator.java

@@ -67,13 +67,13 @@
                if (currentCodeData == null || CodeNodeType.NONE.val.equals(currentCodeData)) {
                    continue;
                }
                Code currCode = codeService.selectByData(currentCodeData);
                Code currCode = codeService.getCacheByData(currentCodeData);

                // 检查右边相邻条码
                if (j + 1 < cols) {
                    String rightCodeData = codeMatrix[i][j + 1];
                    if (!Cools.isEmpty(rightCodeData) && !CodeNodeType.NONE.val.equals(rightCodeData)) {
                        Code rightCode = codeService.selectByData(rightCodeData);
                        Code rightCode = codeService.getCacheByData(rightCodeData);
                        list.add(currCode.getData() + "-" + rightCode.getData());
                        routeService.createRouteByCode(currCode, rightCode, 0, null);
                        codeGapService.createCodeGapByCode(currCode, rightCode, null);
@@ -86,7 +86,7 @@
                if (i + 1 < rows) {
                    String bottomCodeData = codeMatrix[i + 1][j];
                    if (!Cools.isEmpty(bottomCodeData) && !CodeNodeType.NONE.val.equals(bottomCodeData)) {
                        Code bottomCode = codeService.selectByData(bottomCodeData);
                        Code bottomCode = codeService.getCacheByData(bottomCodeData);
                        list.add(currCode.getData() + "-" + bottomCode.getData());
                        routeService.createRouteByCode(currCode, bottomCode, 0, null);
                        codeGapService.createCodeGapByCode(currCode, bottomCode, null);

 zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java

@@ -104,7 +104,7 @@


    private void simulateWalking(Agv agv, Action action) throws InterruptedException {
        Code code = codeService.selectByData(action.getCode());
        Code code = codeService.getCacheByData(action.getCode());
//        agvDetail.setPos(1);
//        agvDetail.setCode(code.getId());
        // 模拟电量消耗

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

@@ -130,7 +130,7 @@
        Date now = new Date();  Long userId = getLoginUserId();
        for (Map<String, Object> map : list) {
            Code code = Cools.conver(map, Code.class);
            if (null != codeService.selectByData(code.getData())) {
            if (null != codeService.getCacheByData(code.getData())) {
                continue;
            }
            code.setData(Utils.zeroFill(code.getData(), CommonConstant.QR_CODE_LEN));

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

@@ -185,7 +185,7 @@
        if (Cools.isEmpty(codeData)) {
            return R.error();
        }
        Code code = codeService.selectByData(codeData);
        Code code = codeService.getCacheByData(codeData);
        MapPointVo vo = new MapPointVo();
        vo.setCodeId(code.getId());
        vo.setCodeData(code.getData());
@@ -238,7 +238,7 @@
        List<Code> codes = codeService.list();
        List<Code> codeArr = param.getCodeArr();
        for (Code code : codeArr) {
            Code one = codeService.selectByData(code.getData());
            Code one = codeService.getCacheByData(code.getData());
            if (one == null) {
                if (!codeService.save(code)) {
                    throw new BusinessException(code.getData()+" save fail![Code]");
@@ -264,8 +264,8 @@

        List<MapParam.Route> routeArr = param.getRouteArr();
        for (MapParam.Route paramRoute : routeArr) {
            Code startCode = codeService.selectByData(paramRoute.getStartCode());
            Code endCode = codeService.selectByData(paramRoute.getEndCode());
            Code startCode = codeService.getCacheByData(paramRoute.getStartCode());
            Code endCode = codeService.getCacheByData(paramRoute.getEndCode());

            Route route = routeService.findByCodeOfBoth(startCode.getId(), endCode.getId());
            if (route == null) {
@@ -342,7 +342,7 @@
            if (Cools.isEmpty(agvParam.getPos())) {
                throw new BusinessException(agvParam.getAgvNo() + " agv not in position！");
            }
            Code code = codeService.selectByData(agvParam.getPos());
            Code code = codeService.getCacheByData(agvParam.getPos());
            Agv agv = agvService.selectByUuid(agvParam.getAgvNo());
            if (agv == null) {
                agv = new Agv();

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

@@ -179,8 +179,8 @@
            }
            RouteExcel excelDto = Cools.conver(one, RouteExcel.class);

            Code code0 = codeService.selectByData(Utils.zeroFill(excelDto.getStartCode(), CommonConstant.QR_CODE_LEN));
            Code code1 = codeService.selectByData(Utils.zeroFill(excelDto.getEndCode(), CommonConstant.QR_CODE_LEN));
            Code code0 = codeService.getCacheByData(Utils.zeroFill(excelDto.getStartCode(), CommonConstant.QR_CODE_LEN));
            Code code1 = codeService.getCacheByData(Utils.zeroFill(excelDto.getEndCode(), CommonConstant.QR_CODE_LEN));

            if (null == code0 || null == code1) { continue; }


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

@@ -12,6 +12,7 @@
import com.zy.acs.manager.manager.service.CodeGapService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.RouteService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
@@ -21,6 +22,7 @@
import java.util.List;
import java.util.Map;

@Slf4j
@Service("codeService")
public class CodeServiceImpl extends ServiceImpl<CodeMapper, Code> implements CodeService {

@@ -38,6 +40,7 @@
            CODE_ID_CACHE.put(code.getId(), code);
            CODE_DATA_CACHE.put(code.getData(), code);
        }
        log.info("The code cache was initialized...");
    }

    @Override

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

@@ -96,7 +96,7 @@
            return null;
        }
        Date now = new Date();
        Code code = codeService.selectByData(currCodeData);
        Code code = codeService.getCacheByData(currCodeData);
        List<Jam> jams = this.list(new LambdaQueryWrapper<Jam>()
                .eq(Jam::getAvoAgv, avoAgv)
                .eq(Jam::getAvoCode, code.getId())

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

@@ -37,7 +37,7 @@
    @Override
    public void agvInfoBroadcastOnPos(WebsocketDto<AGV_12_UP> dto) {
        AGV_12_UP protocol = dto.getObj();
        Code currCode = codeService.selectByData(protocol.getQrCode());
        Code currCode = codeService.getCacheByData(protocol.getQrCode());

        DigitalAgvVo vo = new DigitalAgvVo();
        vo.setAgvNo(dto.getNo());
@@ -80,7 +80,7 @@
    @Override
    public void agvInfoBroadcastWithOutPos(WebsocketDto<AGV_13_UP> dto) {
        AGV_13_UP protocol = dto.getObj();
        Code currCode = codeService.selectByData(protocol.getQrCode());
        Code currCode = codeService.getCacheByData(protocol.getQrCode());

        DigitalAgvVo vo = new DigitalAgvVo();
        vo.setAgvNo(dto.getNo());