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/HandlerController.java | 55 +++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 45 insertions(+), 10 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..ca9ccbe 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;
@@ -49,6 +47,8 @@
@Autowired
private MainService mainService;
@Autowired
+ private MainLockWrapService mainLockWrapService;
+ @Autowired
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
private CodeService codeService;
@@ -64,6 +64,8 @@
private MapDataDispatcher mapDataDispatcher;
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
+ @Autowired
+ private PatrolService patrolService;
@RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
@Transactional
@@ -105,18 +107,18 @@
endCode = codeService.getById(param.getEndCode());
}
if (!Cools.isEmpty(param.getEndCodeStr())) {
- endCode = codeService.selectByData(param.getEndCodeStr());
+ endCode = codeService.getCacheByData(param.getEndCodeStr());
}
if (null == endCode) {
return R.error();
}
- if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskMode(), endCode.getData())) {
+ if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
return R.error();
}
break;
case TO_CHARGE:
case TO_STANDBY:
- if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskMode(), null)) {
+ if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
return R.error();
}
break;
@@ -159,7 +161,9 @@
task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
task.setOriLoc(oriLoc.getId());
+ task.setOriCode(oriLoc.getCode());
task.setDestLoc(destLoc.getId());
+ task.setDestCode(destLoc.getCode());
task.setTaskType(param.getTaskMode().val());
task.setTaskSts(TaskStsType.WAITING.val());
@@ -190,9 +194,8 @@
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 +206,18 @@
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 +254,8 @@
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 +266,7 @@
// non-block
CompletableFuture<?> completableFuture = CompletableFuture.supplyAsync(() -> {
mapDataDispatcher.modifyDynamicMatrix(null, null, param.getAgvNo(), true);
+ avoidWaveCalculator.calcDynamicNodeByVehicle(agv, null);
return R.ok();
}, threadPoolRegulator.getInstance());
@@ -262,4 +280,21 @@
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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