From 2a6e27f1c0064690d6fc6ab137d64c02fc0742da Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期一, 16 六月 2025 16:16:09 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java | 49 ++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 46 insertions(+), 3 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
index ac1a177..dc9d4dc 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java
@@ -2,10 +2,13 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
+import com.zy.acs.manager.common.annotation.OperationLog;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.*;
@@ -17,6 +20,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
+import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;
@@ -24,6 +28,7 @@
import java.util.List;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.ExecutionException;
+import java.util.stream.Collectors;
/**
* Created by vincent on 8/1/2024
@@ -32,6 +37,8 @@
@RestController
@RequestMapping("/api/handler")
public class HandlerController extends BaseController {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
public static final String APP_KEY = "xltys1995";
@@ -66,6 +73,40 @@
@Autowired
private PatrolService patrolService;
+ @PreAuthorize("hasAuthority('manager:agv:update')")
+ @OperationLog("Locate All Agv")
+ @PostMapping("/locateAllAgv")
+ public synchronized R locateAllAgv() {
+ final Integer MAP_DEFAULT_LEV = 1;
+ redis.deleteValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(MAP_DEFAULT_LEV));
+ avoidWaveCalculator.calcDynamicNodeWhenBoot();
+ return R.ok();
+ }
+
+ @PreAuthorize("hasAuthority('manager:agv:update')")
+ @PostMapping("/patrol/batch/startup")
+ public synchronized R patrolBatchStartup() {
+ List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+ int result = 0;
+ for (Agv agv : list) {
+ patrolService.startupPatrol(agv.getUuid());
+ result++;
+ }
+ return R.ok().add(result);
+ }
+
+ @PreAuthorize("hasAuthority('manager:agv:update')")
+ @PostMapping("/patrol/batch/shutdown")
+ public synchronized R patrolBatchShutdown() {
+ List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>());
+ for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
+ if (patrolService.isPatrolling(agvNo)) {
+ patrolService.shutdownPatrol(agvNo);
+ }
+ }
+ return R.ok();
+ }
+
@RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
@Transactional
public R controlAgv(@RequestHeader String appKey,
@@ -93,10 +134,12 @@
log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝宸茬粡瀛樺湪杩涜涓殑浠诲姟...");
return R.error();
}
- if (!agvService.judgeEnable(agv.getId())) {
+ // zhangc 鍦ㄧ敤鎴锋墜鍔ㄦ帶鍒舵椂锛岄渶瑕佺敤鎴蜂富瑙傚垽鏂紝鎵�浠ュ皬杞﹀彧瑕侀珮浜庝綆鐢甸噺闃堝�煎氨鍙互鎵嬪姩鎺у埗锛屾墍浠ユ敞閲�
+ if (!agvService.judgeEnable(agv.getId(),true,true)) {
log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝浠诲姟鏃犳硶璁＄畻...");
return R.error();
}
+
// generate
Loc oriLoc = null;
@@ -116,13 +159,13 @@
if (null == endCode) {
return R.error();
}
- if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
+ if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null, true)) {
return R.error();
}
break;
case TO_CHARGE:
case TO_STANDBY:
- if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
+ if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null, true)) {
return R.error();
}
break;
--
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