From 21b80e79792b800eb3e409340d31be1354878a24 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期二, 17 六月 2025 12:03:34 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenAlgorithmController.java | 1
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/OpenAlgorithmServiceImpl.java | 50 ++++++++++++++++++++-----
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/BackpackVo.java | 29 ++++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/OpenAgvInfo.java | 3 +
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java | 10 +++++
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java | 2 +
6 files changed, 83 insertions(+), 12 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenAlgorithmController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenAlgorithmController.java
index ac3d0e1..24dd8a0 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenAlgorithmController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenAlgorithmController.java
@@ -49,7 +49,6 @@
navigation.getCodeList().forEach(codeDTO -> {
});
-
return null;
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/BackpackVo.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/BackpackVo.java
new file mode 100644
index 0000000..31ab571
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/BackpackVo.java
@@ -0,0 +1,29 @@
+package com.zy.acs.manager.manager.controller.result;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * Created by vincent on 10/17/2024
+ */
+@Data
+public class BackpackVo implements Serializable {
+
+ private Integer index;
+
+ private Boolean loaded;
+
+ private Boolean execute;
+
+ private String taskId;
+
+ public BackpackVo() {
+ }
+
+ public BackpackVo(Integer index, Boolean loaded) {
+ this.index = index;
+ this.loaded = loaded;
+ }
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/OpenAgvInfo.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/OpenAgvInfo.java
index 022ccf4..634355d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/OpenAgvInfo.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/OpenAgvInfo.java
@@ -1,5 +1,6 @@
package com.zy.acs.manager.manager.controller.result;
+import com.zy.acs.manager.core.domain.BackpackDto;
import lombok.Data;
import java.util.List;
@@ -28,7 +29,7 @@
*/
private String error;
- private List<Backpack> backpack;
+ private List<BackpackVo> backpack;
/**
* 褰撳墠鎵�鍦ㄤ綅缃�
*/
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java
index 39115c1..b88d1b8 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java
@@ -20,6 +20,8 @@
List<Segment> getByAgvAndState(Long agvId, String state);
+ List<Segment> getByAgvAndTaskAndBackpack(Long agvId,List<Long> taskIds, Integer backpack);
+
List<String> getGroupNo(SegmentStateType state, Long agvId, String groupNo);
List<Segment> getRunningByEndCode(Long codeId);
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 66d5f99..e3f930e 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 +1,20 @@
package com.zy.acs.manager.manager.service.impl;
+import com.zy.acs.common.utils.GsonUtils;
+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.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.*;
+import com.zy.acs.manager.manager.enums.SegmentStateType;
+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 +26,50 @@
@Autowired
private AgvModelService agvModelService;
@Autowired
+ private AgvService agvService;
+ @Autowired
+ private SegmentService segmentService;
+ @Autowired
private ConfigService configService;
@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) {
+ 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.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 = 0; i < agvModel.getBackpack(); i++) {
+ BackpackDto backpackDto = backpackDtos.get(i);
+ backpackVo = new BackpackVo();
+ List<Segment> segments = segmentService.getByAgvAndTaskAndBackpack(agvDetail.getAgvId(), taskIds, backpackVo.getIndex());
+ for (Segment segment : segments) {
+ backpackVo.setTaskId(segment.getTaskId() + "");
+ }
+ backpackVo.setIndex(i);
+ backpackVo.setLoaded(backpackDto.getLoaded());
+ backpackVo.setExecute(segments.stream().anyMatch(segment -> segment.getState().equals(SegmentStateType.RUNNING.toString())));
+ backpackVos.add(backpackVo);
+ }
+ info.setBackpack(backpackVos);
result.add(info);
}
return result;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
index 58cafeb..d797b58 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
@@ -105,6 +105,16 @@
}
@Override
+ public List<Segment> getByAgvAndTaskAndBackpack(Long agvId,List<Long> taskIds, Integer backpack) {
+ return this.list(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getBackpack, backpack)
+ .in(Segment::getTaskId, taskIds)
+ .orderByAsc(Segment::getSerial)
+ );
+ }
+
+ @Override
public List<String> getGroupNo(SegmentStateType state, Long agvId, String groupNo) {
return this.baseMapper.getGroupNo(state.toString(), agvId, groupNo);
}
--
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