From 95799a947730ee3d8cd70eb59aa56d029a5295e5 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 18 十二月 2025 10:28:24 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java | 18 +++++++-
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AreaAgvService.java | 2 +
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java | 9 ++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java | 45 +++++++++++++---------
4 files changed, 52 insertions(+), 22 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java
index b8d9e60..707b840 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AreaGovernService.java
@@ -18,9 +18,7 @@
import org.springframework.context.event.EventListener;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
@Slf4j
@@ -125,6 +123,20 @@
return areaIds;
}
+ // checkout list of code by area ids
+ public List<String> queryCodes(List<Long> areaIds) {
+ if (Cools.isEmpty(areaIds)) {
+ return Collections.emptyList();
+ }
+
+ Set<String> codeList = new HashSet<>();
+ for (Long areaId : areaIds) {
+ List<String> strings = AREA_CODE.get(areaId);
+ codeList.addAll(strings);
+ }
+ return new ArrayList<>(codeList);
+ }
+
// reset and set new area
public List<String> reSet(Area area) {
AreaShapeDto shapeDto = JSON.parseObject(area.getShapeData(), AreaShapeDto.class);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
index 7b10eb9..104eb4b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
@@ -73,6 +73,26 @@
private ConfigService configService;
@Autowired
private AgvModelService agvModelService;
+ @Autowired
+ private AreaAgvService areaAgvService;
+ @Autowired
+ private AreaGovernService areaGovernService;
+
+ @PostConstruct
+ public void init() {
+ int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+ if (count > 0) {
+ this.scheduler = Executors.newScheduledThreadPool(count);
+ }
+ // init all code data
+ List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
+ this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+ // int all loc code data
+ List<Code> locCodeList = codeService.getAllLocCode();
+ this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+ }
// pick & drop logic --------------------------------------------------
@@ -201,9 +221,12 @@
Set<String> notInCodeSet = new HashSet<>();
- Collections.shuffle(CODE_DATA_CACHE);
+// Collections.shuffle(CODE_DATA_CACHE);
+ List<Long> areaIds = areaAgvService.queryAreaIdsByAgvId(agvDetail.getAgvId());
+ List<String> codeList = areaGovernService.queryCodes(areaIds);
+ Collections.shuffle(codeList);
- for (String endCodeData : CODE_DATA_CACHE) {
+ for (String endCodeData : codeList) {
if (notInCodeSet.contains(endCodeData)) { continue; }
Code endCode = codeService.getCacheByData(endCodeData);
@@ -219,7 +242,7 @@
}
}
- return CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ return codeList.stream().findFirst().orElse(null);
}
// ---------------------------------------------------------------------------
@@ -273,22 +296,6 @@
log.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
return R.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
}
- }
-
- @PostConstruct
- public void init() {
- int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
- if (count > 0) {
- this.scheduler = Executors.newScheduledThreadPool(count);
- }
- // init all code data
- List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
- this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
-
- // int all loc code data
- List<Code> locCodeList = codeService.getAllLocCode();
- this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
-
}
@PreDestroy
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AreaAgvService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AreaAgvService.java
index 07a9c1c..23553f7 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AreaAgvService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AreaAgvService.java
@@ -9,6 +9,8 @@
List<Long> queryAgvIdsByAreaIds(List<Long> areaIds);
+ List<Long> queryAreaIdsByAgvId(Long agvId);
+
void removeByAgvId(Long agvId);
void removeByAreaId(Long areaId);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java
index 11d0f13..0597ce0 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AreaAgvServiceImpl.java
@@ -25,6 +25,15 @@
}
@Override
+ public List<Long> queryAreaIdsByAgvId(Long agvId) {
+ if (agvId == null) {
+ return Collections.emptyList();
+ }
+ return this.list(new LambdaQueryWrapper<AreaAgv>().eq(AreaAgv::getAgvId, agvId).select(AreaAgv::getAreaId))
+ .stream().map(AreaAgv::getAreaId).collect(Collectors.toList());
+ }
+
+ @Override
public void removeByAgvId(Long agvId) {
this.remove(new LambdaQueryWrapper<AreaAgv>().eq(AreaAgv::getAgvId, agvId));
}
--
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