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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