From 89c7f6e5bcc21b0e8f83a2bc6d680e2ffe431e6f Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 13 一月 2025 09:38:29 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java | 174 ++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 151 insertions(+), 23 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
index ed9c70b..0c39768 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
@@ -1,20 +1,28 @@
package com.zy.acs.manager.core;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.utils.RouteGenerator;
+import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
-import com.zy.acs.manager.manager.enums.TaskTypeType;
+import com.zy.acs.manager.manager.entity.Code;
+import com.zy.acs.manager.manager.entity.FuncSta;
+import com.zy.acs.manager.manager.enums.FuncStaType;
+import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RequestMethod;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+import java.util.stream.Collectors;
/**
* Created by vincent on 11/15/2024
@@ -53,10 +61,58 @@
private PatrolService patrolService;
@Autowired
private RouteGenerator routeGenerator;
+ @Autowired
+ private FuncStaService funcStaService;
@RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})
public R systemInfo() {
return R.ok("RCS-FLOW-1.0.0");
+ }
+
+ // {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}
+ // {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}
+ @RequestMapping(value = "/system/demo", method = {RequestMethod.GET, RequestMethod.POST})
+ public R demo() {
+ long startTime = System.currentTimeMillis();
+ for (int i = 0; i < 1000; i++) {
+ this.demo1();
+ }
+ System.out.println(System.currentTimeMillis() - startTime);
+ return R.ok();
+ }
+
+ private R demo1() {
+ List<String> path = new ArrayList<>();
+ path.add("00000035");
+ path.add("00000085");
+ path.add("00000135");
+ path.add("00000185");
+ path.add("00000235");
+ path.add("00000234");
+ path.add("00000233");
+ path.add("00000232");
+ path.add("00000231");
+ path.add("00000230");
+ path.add("00000229");
+ path.add("00000228");
+ path.add("00000227");
+ path.add("00000226");
+ path.add("00000225");
+ path.add("00000224");
+ path.add("00000223");
+ path.add("00000222");
+
+// List<int[]> codeMatrixIdxList = new ArrayList<>();
+// for (String pathStr : path) {
+// int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, pathStr);
+// codeMatrixIdxList.add(codeMatrixIdx);
+// }
+
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, path);
+
+// System.out.println(codeMatrixIdxList.toString());
+
+ return R.ok().add(codeMatrixIdxList);
}
// @RequestMapping(value = "/system/route/generate", method = {RequestMethod.GET, RequestMethod.POST})
@@ -66,31 +122,103 @@
// return R.ok(String.valueOf(list.size())).add(list);
// }
- @GetMapping("/dead/lock")
- public R aaa() {
- AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
- agvDetail11.setCode(codeService.selectByData("00000251").getId());
- agvDetailService.updateById(agvDetail11);
+ // http://localhost:8088/demo/auto/go/standby
+ @GetMapping("/auto/go/standby")
+ public R autoGoStandby() {
- AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
- agvDetail12.setCode(codeService.selectByData("00000204").getId());
- agvDetailService.updateById(agvDetail12);
+ List<FuncSta> standbyFunStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
+ .eq(FuncSta::getStatus, StatusType.ENABLE.val)
+ .eq(FuncSta::getType, FuncStaType.STANDBY.toString())
+ .orderByAsc(FuncSta::getId));
- AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
- agvDetail14.setCode(codeService.selectByData("00000101").getId());
- agvDetailService.updateById(agvDetail14);
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().orderByAsc(Agv::getId));
+
+ for (int i = 0; i < standbyFunStaList.size(); i++) {
+
+ FuncSta funcSta = standbyFunStaList.get(i);
+ Code code = codeService.getById(funcSta.getCode());
+
+ Agv agv = agvList.get(i);
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+
+ agvDetail.setPos(1);
+ agvDetail.setCode(code.getId());
+ agvDetail.setStatus(AgvStatusType.IDLE.val);
+ agvDetail.setAgvAngle(90D);
+ agvDetail.setVol(5000);
+
+ agvDetailService.updateById(agvDetail);
+ }
avoidWaveCalculator.calcDynamicNodeWhenBoot();
-
- mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
- codeService.selectByData("00000303").getData(), null);
- mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
- codeService.selectByData("00000411").getData(), null);
- mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
- codeService.selectByData("00000403").getData(), null);
+// AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
+// agvDetail11.setCode(codeService.getCacheByData("00000251").getId());
+// agvDetailService.updateById(agvDetail11);
+//
+// AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
+// agvDetail12.setCode(codeService.getCacheByData("00000204").getId());
+// agvDetailService.updateById(agvDetail12);
+//
+// AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
+// agvDetail14.setCode(codeService.getCacheByData("00000101").getId());
+// agvDetailService.updateById(agvDetail14);
+//
+// avoidWaveCalculator.calcDynamicNodeWhenBoot();
+//
+// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
+// codeService.getCacheByData("00000303").getData(), null);
+// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
+// codeService.getCacheByData("00000411").getData(), null);
+// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
+// codeService.getCacheByData("00000403").getData(), null);
return R.ok();
}
+ // http://localhost:8088/demo/auto/go/patrol?count=10
+ @GetMapping("/auto/go/patrol")
+ public R autoGoPatrol(@RequestParam(required = false, defaultValue = "5") Integer count) {
+ List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+
+ // stop
+ if (count == 0) {
+ for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
+ if (patrolService.isPatrolling(agvNo)) {
+ patrolService.shutdownPatrol(agvNo);
+ }
+ }
+ return R.ok();
+ }
+
+ // start
+ Collections.shuffle(list);
+ List<Agv> agvs = list.subList(0, count);
+ int result = 0;
+ for (Agv agv : agvs) {
+ patrolService.startupPatrol(agv.getUuid());
+ result++;
+ }
+ return R.ok().add(result);
+ }
+
+
+ @Autowired
+ private MapService mapService;
+ @Autowired
+ private SegmentService segmentService;
+
+ @GetMapping("/astarDemo") // astar spend time: 3866, count:3855
+ public R astarDemo() {
+ long startTime = System.currentTimeMillis();
+ List<String> path = mapService.checkoutPath("18"
+ , codeService.getCacheByData("00001318")
+ , codeService.getCacheByData("00003447")
+ , true
+ , new ArrayList<>()
+ , segmentService.getById(1390));
+ System.out.println("demo spend time: " + (System.currentTimeMillis() - startTime));
+ return R.ok().add(path);
+ }
+
}
--
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