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 )); } -- Gitblit v1.9.1