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 | 34 ++++++++++++++++++++++++++++++++++
1 files changed, 34 insertions(+), 0 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 3100ec2..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
@@ -19,8 +19,10 @@
import org.springframework.jdbc.core.JdbcTemplate;
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
@@ -132,6 +134,18 @@
@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;
@@ -141,4 +155,24 @@
}
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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