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/fake/AgvSimulatorTask.java | 17 ++++++++++++++---
1 files changed, 14 insertions(+), 3 deletions(-)
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);
}
--
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