From 030ebaaa497945891aae611b7de41f4b4161b03a Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 12 十一月 2024 13:23:52 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java |   12 ++++--------
 zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java       |   17 ++++++++++++++---
 zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java          |   12 ++++++++----
 3 files changed, 26 insertions(+), 15 deletions(-)

diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java
index 7725211..27a4948 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java
@@ -1,13 +1,11 @@
 package com.zy.acs.manager.core.service;
 
 import com.alibaba.fastjson.JSON;
-import com.zy.acs.common.constant.RedisConstant;
 import com.zy.acs.common.domain.AgvProtocol;
 import com.zy.acs.common.domain.protocol.*;
 import com.zy.acs.common.utils.GsonUtils;
 import com.zy.acs.common.utils.RedisSupport;
 import com.zy.acs.framework.common.Cools;
-import com.zy.acs.manager.common.domain.WebsocketDto;
 import com.zy.acs.manager.core.domain.BackpackDto;
 import com.zy.acs.manager.manager.entity.Agv;
 import com.zy.acs.manager.manager.entity.AgvDetail;
@@ -83,16 +81,14 @@
 
             // unlock path
             threadPoolRegulator.getInstance().execute(() -> {
-//                avoidWaveCalculator.syncWaveBySingleVeh(protocol.getAgvNo(), agv_12_up.getQrCode());
                 mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode());
-//                mapService.unlockPath(protocol.getAgvNo(), Utils.singletonList(agv_12_up.getQrCode()));
             });
             // finish jam
             threadPoolRegulator.getInstance().execute(() -> jamService.checkIfFinish(agv.getId(), agv_12_up.getQrCode()));
 
-            websocketService.agvInfoBroadcastOnPos(new WebsocketDto<AGV_12_UP>("agv", agv.getUuid(), agv_12_up));
+//            websocketService.agvInfoBroadcastOnPos(new WebsocketDto<AGV_12_UP>("agv", agv.getUuid(), agv_12_up));
             this.sync(agv_12_up, detail);
-            redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_12_up);
+//            redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_12_up);
             if (PRINT_LOG) {
                 log.info("Agv [{}] 鏈夌爜瀹炴椂鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_12_up));
             }
@@ -100,9 +96,9 @@
         // 鏃犵爜瀹炴椂鏁版嵁鍖�
         if (msgBody instanceof AGV_13_UP) {
             AGV_13_UP agv_13_up = (AGV_13_UP) msgBody;
-            websocketService.agvInfoBroadcastWithOutPos(new WebsocketDto<AGV_13_UP>("agv", agv.getUuid(), agv_13_up));
+//            websocketService.agvInfoBroadcastWithOutPos(new WebsocketDto<AGV_13_UP>("agv", agv.getUuid(), agv_13_up));
             this.sync(agv_13_up, detail);
-//            redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_13_up); // todo
+//            redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_13_up);
             if (PRINT_LOG) {
                 log.info("Agv [{}] 鏃犵爜瀹炴椂鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_13_up));
             }
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
index 308766e..55028a4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java
@@ -5,6 +5,7 @@
 import com.zy.acs.common.domain.protocol.AGV_11_UP;
 import com.zy.acs.common.enums.AgvCompleteType;
 import com.zy.acs.common.utils.RedisSupport;
+import com.zy.acs.manager.core.service.MapService;
 import com.zy.acs.manager.manager.entity.Action;
 import com.zy.acs.manager.manager.entity.Agv;
 import com.zy.acs.manager.manager.entity.AgvDetail;
@@ -14,6 +15,7 @@
 import com.zy.acs.manager.manager.service.ActionService;
 import com.zy.acs.manager.manager.service.AgvDetailService;
 import com.zy.acs.manager.manager.service.CodeService;
+import com.zy.acs.manager.manager.service.JamService;
 import lombok.extern.slf4j.Slf4j;
 
 import java.util.List;
@@ -29,6 +31,8 @@
     private final AgvDetailService agvDetailService;
     private final ActionService actionService;
     private final CodeService codeService;
+    private final MapService mapService;
+    private final JamService jamService;
     private final List<Action> actionList;
 
     private final RedisSupport redis;
@@ -41,6 +45,8 @@
             , AgvDetailService agvDetailService
             , ActionService actionService
             , CodeService codeService
+            , MapService mapService
+            , JamService jamService
             , List<Action> actionList
     ) {
         this.agv = agv;
@@ -48,6 +54,8 @@
         this.agvDetailService = agvDetailService;
         this.actionService = actionService;
         this.codeService = codeService;
+        this.mapService = mapService;
+        this.jamService = jamService;
         this.actionList = actionList;
 
         this.groupId = actionList.get(0).getGroupId();
@@ -108,13 +116,15 @@
         // 妯℃嫙鐢甸噺娑堣��
 //        agvDetail.setVol(agvDetail.getVol() - 0.1 * distanceToMove); // 鏍规嵁璺濈娑堣�楃數閲�
 
+        Thread.sleep(1000);
+
         agvDetailService.updateById(agvDetail);
 
-        Thread.sleep(1000);
+        mapService.unlockPath(agv.getUuid(), code.getData());
+        jamService.checkIfFinish(agv.getId(), code.getData());
 
         action.setActionSts(ActionStsType.FINISH.val());
         actionService.updateById(action);
-
 
     }
 
@@ -152,10 +162,11 @@
         double newAngle = (agvDetail.getAgvAngle() + actionAngle) % 360;
 
         agvDetail.setAgvAngle(newAngle);
-        agvDetailService.updateById(agvDetail);
 
         Thread.sleep(1000);
 
+        agvDetailService.updateById(agvDetail);
+
         action.setActionSts(ActionStsType.FINISH.val());
         actionService.updateById(action);
     }
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
index 5570441..9da761a 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
@@ -7,14 +7,12 @@
 import com.zy.acs.common.domain.protocol.AGV_01_UP;
 import com.zy.acs.common.utils.RedisSupport;
 import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.core.service.MapService;
 import com.zy.acs.manager.manager.entity.Action;
 import com.zy.acs.manager.manager.entity.Agv;
 import com.zy.acs.manager.manager.enums.ActionStsType;
 import com.zy.acs.manager.manager.enums.StatusType;
-import com.zy.acs.manager.manager.service.ActionService;
-import com.zy.acs.manager.manager.service.AgvDetailService;
-import com.zy.acs.manager.manager.service.AgvService;
-import com.zy.acs.manager.manager.service.CodeService;
+import com.zy.acs.manager.manager.service.*;
 import com.zy.acs.manager.system.service.ConfigService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -50,6 +48,10 @@
     private ConfigService configService;
     @Autowired
     private CodeService codeService;
+    @Autowired
+    private MapService mapService;
+    @Autowired
+    private JamService jamService;
 
     /**
      * 1.AgvDataService.dataProcess [ agvDetail: vol, code, agvAngle, agvStatus ]
@@ -88,6 +90,8 @@
                             , agvDetailService
                             , actionService
                             , codeService
+                            , mapService
+                            , jamService
                             , actionList
                     ));
                 }

--
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