From bc729b420fc0db8db80fc4d2b8e67f56edada33e Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 13 四月 2026 10:23:35 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java | 14 ++++++++++++++
1 files changed, 14 insertions(+), 0 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 2e52cda..77fec31 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
@@ -13,6 +13,7 @@
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.*;
+import com.zy.acs.manager.core.service.hik.HikInstantActionPublishService;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.*;
@@ -81,6 +82,8 @@
private AgvAreaDispatcher agvAreaDispatcher;
@Autowired
private ConfigService configService;
+ @Autowired
+ private HikInstantActionPublishService hikInstantActionPublishService;
@PreAuthorize("hasAuthority('manager:agv:update')")
@OperationLog("Locate All Agv")
@@ -467,6 +470,7 @@
}
if (null != agv) {
+ publishRestoreCancelIfNeeded(agv);
mapDataDispatcher.modifyDynamicMatrix(null, null, agv.getUuid(), true);
avoidWaveCalculator.calcDynamicNodeByVehicle(agv, null);
@@ -477,6 +481,7 @@
} else {
List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>());
for (Agv one : agvList) {
+ publishRestoreCancelIfNeeded(one);
mapDataDispatcher.modifyDynamicMatrix(null, null, one.getUuid(), true);
avoidWaveCalculator.calcDynamicNodeByVehicle(one, null);
}
@@ -490,6 +495,15 @@
return R.ok();
}
+ private void publishRestoreCancelIfNeeded(Agv agv) {
+ if (agv == null) {
+ return;
+ }
+ if (hikInstantActionPublishService.support(agv.getId())) {
+ hikInstantActionPublishService.publishCancelOrder(agv.getUuid());
+ }
+ }
+
@RequestMapping(value = "/unlock", method = {RequestMethod.GET, RequestMethod.POST})
public R unlockPath(@RequestHeader String appKey,
@RequestBody HandlerPublishParam param) throws ExecutionException, InterruptedException {
--
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