From 2de9e897274f93ef5e90eaa068ab8645dea2de39 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 18 十二月 2025 15:40:33 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java | 34 +++++++++++++++++++++++++++++-----
1 files changed, 29 insertions(+), 5 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 9b744ed..43222dc 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
@@ -28,6 +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
@@ -75,13 +76,36 @@
@PreAuthorize("hasAuthority('manager:agv:update')")
@OperationLog("Locate All Agv")
@PostMapping("/locateAllAgv")
- public synchronized R locateAllAgv() throws InterruptedException {
+ 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
@@ -149,7 +173,7 @@
oriLoc = locService.getById(param.getStartLocNo());
}
if (!Cools.isEmpty(param.getStartLocNoStr())) {
- oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
+ oriLoc = locService.selectByLocNo(param.getStartLocNoStr());
}
if (null == oriLoc) {
return R.error();
@@ -168,7 +192,7 @@
destLoc = locService.getById(param.getEndLocNo());
}
if (!Cools.isEmpty(param.getEndLocNoStr())) {
- destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
+ destLoc = locService.selectByLocNo(param.getEndLocNoStr());
}
if (null == destLoc) {
return R.error();
@@ -196,7 +220,7 @@
oriLoc = locService.getById(param.getStartLocNo());
}
if (!Cools.isEmpty(param.getStartLocNoStr())) {
- oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
+ oriLoc = locService.selectByLocNo(param.getStartLocNoStr());
}
if (null == oriLoc) {
return R.error();
@@ -262,7 +286,7 @@
destLoc = locService.getById(param.getEndLocNo());
}
if (!Cools.isEmpty(param.getEndLocNoStr())) {
- destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
+ destLoc = locService.selectByLocNo(param.getEndLocNoStr());
}
if (null == destLoc) {
return R.error();
--
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