From b9eef68cc85d30b892a1cd50829341d3dae743b9 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 06 一月 2025 13:00:47 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java | 53 +++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 49 insertions(+), 4 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 4f26862..f525f3f 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
@@ -17,12 +17,12 @@
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
@@ -130,4 +130,49 @@
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.selectByData("00001318")
+ , codeService.selectByData("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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