#

luxiaotao1123

2024-11-15 e6c977aadbd6fdfa9c0d4be5d16dd83cf4677a79

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 zy-acs-flow/src/map/constants.js

@@ -1,5 +1,5 @@

export const ANIMATE_DURING_TIME = 500;
export const ANIMATE_DURING_TIME = 200;

export const MAP_MODE = Object.freeze({
    OBSERVER_MODE: "1",

 zy-acs-manager/src/main/java/com/zy/acs/manager/common/security/SecurityConfig.java

@@ -34,7 +34,7 @@
public class SecurityConfig extends WebSecurityConfigurerAdapter {

    public static final String[] FILTER_PATH = new String[]{
            "/handler/**",
            "/demo/**",
            "/test/**",
            "/fake/**",
            "/digital/**",

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

New file
@@ -0,0 +1,81 @@
package com.zy.acs.manager.core;

import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

/**
 * Created by vincent on 11/15/2024
 */
@RestController
@RequestMapping("/demo")
public class DemoController extends BaseController {

    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private MainService mainService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private CodeService codeService;
    @Autowired
    private JdbcTemplate jdbcTemplate;
    @Autowired
    private LocService locService;
    @Autowired
    private TrafficService trafficService;
    @Autowired
    private ThreadPoolRegulator threadPoolRegulator;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private PatrolService patrolService;


    @GetMapping("/dead/lock")
    public R aaa() {
        AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
        agvDetail11.setCode(codeService.selectByData("00000251").getId());
        agvDetailService.updateById(agvDetail11);

        AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
        agvDetail12.setCode(codeService.selectByData("00000204").getId());
        agvDetailService.updateById(agvDetail12);

        AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
        agvDetail14.setCode(codeService.selectByData("00000101").getId());
        agvDetailService.updateById(agvDetail14);

        avoidWaveCalculator.calcDynamicNodeWhenBoot();


        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
                codeService.selectByData("00000303").getData(), null);
        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
                codeService.selectByData("00000411").getData(), null);
        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
                codeService.selectByData("00000403").getData(), null);

        return R.ok();
    }

}

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

@@ -31,7 +31,7 @@
@Component
public class MapDataWsScheduler {

    public static final int WEBSOCKET_BROADCAST_INTERVAL = 500;
    public static final int WEBSOCKET_BROADCAST_INTERVAL = 200;

    private ExecutorService singleThreadExecutor;


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

@@ -207,9 +207,9 @@
        List<String> pathList = new ArrayList<>();

        // 无障碍解
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath);
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false);
        // 避让解
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath);
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true);

        if (!Cools.isEmpty(lockPathList) && // 存在避让解
            Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10