From 13ea8b334572c2423abb8d156fd8428f8d074172 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 03 七月 2025 08:24:58 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/OpenAlgorithmServiceImpl.java | 77 +++++++++++++++++++++++++++++++++-----
1 files changed, 66 insertions(+), 11 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/OpenAlgorithmServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/OpenAlgorithmServiceImpl.java
index 6ac6575..0801e8a 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/OpenAlgorithmServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/OpenAlgorithmServiceImpl.java
@@ -1,18 +1,25 @@
package com.zy.acs.manager.manager.service.impl;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.utils.GsonUtils;
+import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.manager.controller.param.OpenAgvParam;
+import com.zy.acs.manager.manager.controller.result.BackpackVo;
import com.zy.acs.manager.manager.controller.result.OpenAgvInfo;
+import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
-import com.zy.acs.manager.manager.service.AgvDetailService;
-import com.zy.acs.manager.manager.service.AgvModelService;
-import com.zy.acs.manager.manager.service.OpenAlgorithmService;
-import com.zy.acs.manager.manager.service.TaskService;
+import com.zy.acs.manager.manager.entity.AgvModel;
+import com.zy.acs.manager.manager.entity.Task;
+import com.zy.acs.manager.manager.enums.TaskStsType;
+import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.ArrayList;
import java.util.List;
+import java.util.stream.Collectors;
@Service("openAlgorithmService")
public class OpenAlgorithmServiceImpl implements OpenAlgorithmService {
@@ -24,22 +31,70 @@
@Autowired
private AgvModelService agvModelService;
@Autowired
+ private AgvService agvService;
+ @Autowired
+ private SegmentService segmentService;
+ @Autowired
private ConfigService configService;
+ public static final ArrayList<String> FOURTH_AGV_GROUP = new ArrayList<String>() {{
+ add("113");
+ add("115");
+ add("116");
+ add("117");
+ add("119");
+ }};
+
@Override
public List<OpenAgvInfo> listAgv(OpenAgvParam param) {
- List<AgvDetail> list = agvDetailService.list();
+ List<Agv> agvList = agvService.list();
List<OpenAgvInfo> result = new ArrayList<>();
- for (AgvDetail agvDetail : list) {
- taskService.findTransportTasksByAgv(agvDetail.getId())
+ AgvDetail agvDetail;
+ AgvModel agvModel;
+ for (Agv agv : agvList) {
+ if (!FOURTH_AGV_GROUP.contains(agv.getUuid())) {
+ continue;
+ }
+ agvDetail = agvDetailService.getById(agv.getId());
+ List<Task> taskList = taskService.findTransportTasksByAgv(agvDetail.getId());
+ agvModel = agvModelService.getByAgvId(agv.getAgvModel());
OpenAgvInfo info = new OpenAgvInfo();
- info.setAgvNo(agvDetail.getUuid());
- info.setStatus(agvDetail.getStatus());
+ info.setAgvId(agv.getUuid());
+ info.setStatus(1);
+ //info.setStatus(agvDetail.getStatus());
+ info.setPosition(agvDetail.getCode$());
info.setDirection(agvDetail.getAgvAngle());
- info.setPosition(agvDetail.getCode$() );
info.setVol(agvDetail.getVol());
- //info.setEmpty(agvDetail.getBackpack());
+ info.setEmpty(agvModel.getBackpack() - (taskList == null ? 0 : taskList.size()));
+ info.setError(agvDetail.getError());
+ info.setLowVol(agvModel.getLowBattery());
+ info.setAutoCharge(agvModel.getQuaBattery());
+ List<BackpackVo> backpackVos = new ArrayList<>();
+ BackpackVo backpackVo;
+ List<Long> taskIds = taskList.stream().map(Task::getId).collect(Collectors.toList());
+ List<BackpackDto> backpackDtos = GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class);
+ for (int i = 1; i <= agvModel.getBackpack(); i++) {
+ backpackVo = new BackpackVo();
+ backpackVo.setIndex(i);
+ List<Task> taskList1 = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getAgvId, agv.getId()).eq(Task::getBack, i).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
+ //if (!Cools.isEmpty(taskIds)) {
+ // List<Segment> segments = segmentService.getByAgvAndTaskAndBackpack(agvDetail.getAgvId(), taskIds, backpackVo.getIndex());
+ // if (segments != null) {
+ // for (Segment segment : segments) {
+ if (!Cools.isEmpty(taskList1)) {
+ backpackVo.setTaskId(taskList1.get(0).getId() + "");
+ }
+ // }
+ // }
+ BackpackDto backpackDto = backpackDtos.get(i);
+ backpackVo.setLoaded(backpackDto.getLoaded());
+ //backpackVo.setExecute(one.getTaskSts()==);
+ //segments.stream().anyMatch(segment -> segment.getState().equals(SegmentStateType.RUNNING.toString()))
+ // }
+ backpackVos.add(backpackVo);
+ }
+ info.setBackpack(backpackVos);
result.add(info);
}
return result;
--
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