From 82887ea354b3ec1411ce35b7ccca04c97c63f5a7 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 12 十一月 2024 10:07:38 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java | 45 ++++++++++++++++++++++++++++++++++++++-------
1 files changed, 38 insertions(+), 7 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 0d31355..53bd72b 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
@@ -8,15 +8,13 @@
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
-import com.zy.acs.manager.core.service.AvoidWaveCalculator;
-import com.zy.acs.manager.core.service.MainService;
-import com.zy.acs.manager.core.service.ThreadPoolRegulator;
-import com.zy.acs.manager.core.service.TrafficService;
+import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.ActionStsType;
import com.zy.acs.manager.manager.enums.LocStsType;
import com.zy.acs.manager.manager.enums.TaskStsType;
+import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import lombok.extern.slf4j.Slf4j;
@@ -64,6 +62,8 @@
private MapDataDispatcher mapDataDispatcher;
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
+ @Autowired
+ private PatrolService patrolService;
@RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
@Transactional
@@ -190,9 +190,8 @@
return R.ok();
}
- @RequestMapping(value = "/reset", method = {RequestMethod.GET, RequestMethod.POST})
- public R reset(@RequestHeader String appKey,
- @RequestBody HandlerPublishParam param) {
+ @RequestMapping(value = "/restore/agv", method = {RequestMethod.GET, RequestMethod.POST})
+ public R restoreAgv(@RequestHeader String appKey, @RequestBody HandlerPublishParam param) {
if (Cools.isEmpty(appKey)) {
return R.error();
}
@@ -203,6 +202,18 @@
Agv agv = null;
if (!Cools.isEmpty(param.getAgvNo())) {
agv = agvService.selectByUuid(param.getAgvNo());
+ List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
+ if (!Cools.isEmpty(tasks)) {
+ for (Task task : tasks) {
+ if (TaskTypeType.LOC_TO_LOC.toString().equals(task.getTaskTypeEl())
+ || TaskTypeType.LOC_TO_STA.toString().equals(task.getTaskTypeEl())
+ || TaskTypeType.STA_TO_LOC.toString().equals(task.getTaskTypeEl())
+ || TaskTypeType.STA_TO_STA.toString().equals(task.getTaskTypeEl())
+ ) {
+ return R.error("Restore Failed, because the agv has Tasks that are associated with Loc!");
+ }
+ }
+ }
}
if (null != agv) {
@@ -239,6 +250,8 @@
return R.error();
}
+ Agv agv = agvService.selectByUuid(param.getAgvNo());
+
// block
// Future<R> future = threadPoolRegulator.getInstance().submit(() -> {
// mapDataDispatcher.modifyDynamicMatrix(null, null, param.getAgvNo(), true);
@@ -249,6 +262,7 @@
// non-block
CompletableFuture<?> completableFuture = CompletableFuture.supplyAsync(() -> {
mapDataDispatcher.modifyDynamicMatrix(null, null, param.getAgvNo(), true);
+ avoidWaveCalculator.calcDynamicNodeByVehicle(agv, null);
return R.ok();
}, threadPoolRegulator.getInstance());
@@ -262,4 +276,21 @@
return R.ok();
}
+ @RequestMapping(value = "/agv/patrol", method = {RequestMethod.GET, RequestMethod.POST})
+ public R agvPatrol(@RequestHeader String appKey,
+ @RequestBody HandlerPublishParam param) throws ExecutionException, InterruptedException {
+ if (Cools.isEmpty(param.getAgvNo(), appKey)) {
+ return R.error();
+ }
+ if (!APP_KEY.equals(appKey)) {
+ return R.error();
+ }
+ String agvNo = param.getAgvNo();
+ if (patrolService.isPatrolling(agvNo)) {
+ return patrolService.shutdownPatrol(agvNo);
+ } else {
+ return patrolService.startupPatrol(agvNo);
+ }
+ }
+
}
--
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