From 6cbb420754e6e29fa134a6afca4514b8dfd62918 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 一月 2026 16:14:49 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java | 90 ++++++++++++++++++++------------------------
1 files changed, 41 insertions(+), 49 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 f525f3f..0ae549d 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
@@ -3,20 +3,17 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.framework.common.R;
-import com.zy.acs.framework.common.SnowflakeIdWorker;
-import com.zy.acs.manager.core.service.*;
-import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
-import com.zy.acs.manager.core.utils.RouteGenerator;
-import com.zy.acs.manager.manager.entity.Agv;
-import com.zy.acs.manager.manager.entity.AgvDetail;
-import com.zy.acs.manager.manager.entity.Code;
-import com.zy.acs.manager.manager.entity.FuncSta;
+import com.zy.acs.manager.core.integrate.conveyor.ConveyorStationService;
+import com.zy.acs.manager.core.service.AvoidWaveCalculator;
+import com.zy.acs.manager.core.service.MapService;
+import com.zy.acs.manager.core.service.PatrolService;
+import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
+import com.zy.acs.manager.manager.enums.StaReserveType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.*;
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.*;
import java.util.ArrayList;
@@ -36,45 +33,33 @@
@Autowired
private AgvDetailService agvDetailService;
@Autowired
- private TaskService taskService;
- @Autowired
- private MainService mainService;
- @Autowired
- private MainLockWrapService mainLockWrapService;
- @Autowired
- private SnowflakeIdWorker snowflakeIdWorker;
- @Autowired
private CodeService codeService;
- @Autowired
- private JdbcTemplate jdbcTemplate;
- @Autowired
- private LocService locService;
- @Autowired
- private TrafficService trafficService;
- @Autowired
- private ThreadPoolRegulator threadPoolRegulator;
- @Autowired
- private MapDataDispatcher mapDataDispatcher;
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
@Autowired
private PatrolService patrolService;
@Autowired
- private RouteGenerator routeGenerator;
- @Autowired
private FuncStaService funcStaService;
+ @Autowired
+ private AgvModelService agvModelService;
+ @Autowired
+ private StaService staService;
+// @Autowired
+// private ConveyorStationService siemensConveyorStationService;
+ @Autowired
+ private ConveyorStationService siemensConveyorStationService;
@RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})
public R systemInfo() {
return R.ok("RCS-FLOW-1.0.0");
}
-// @RequestMapping(value = "/system/route/generate", method = {RequestMethod.GET, RequestMethod.POST})
-// public R generate() {
-// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
-// List<String> list = routeGenerator.generateRoutes(codeMatrix);
-// return R.ok(String.valueOf(list.size())).add(list);
-// }
+ @RequestMapping(value = "/system/demo", method = {RequestMethod.GET, RequestMethod.POST})
+ public R demo() {
+ Sta sta = staService.selectByStaNo("1006");
+ boolean b = siemensConveyorStationService.allowAgvWork(sta, null, null, StaReserveType.IN);
+ return R.ok().add(b);
+ }
// http://localhost:8088/demo/auto/go/standby
@GetMapping("/auto/go/standby")
@@ -85,21 +70,26 @@
.eq(FuncSta::getType, FuncStaType.STANDBY.toString())
.orderByAsc(FuncSta::getId));
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().orderByAsc(Agv::getId));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val). orderByAsc(Agv::getId));
- for (int i = 0; i < standbyFunStaList.size(); i++) {
+ int size = Math.min(standbyFunStaList.size(), agvList.size());
+
+ for (int i = 0; i < size; i++) {
FuncSta funcSta = standbyFunStaList.get(i);
- Code code = codeService.getById(funcSta.getCode());
+ Code code = codeService.getCacheById(funcSta.getCode());
Agv agv = agvList.get(i);
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ Double workDirection = agvModel.getWorkDirection();
agvDetail.setPos(1);
agvDetail.setCode(code.getId());
agvDetail.setStatus(AgvStatusType.IDLE.val);
- agvDetail.setAgvAngle(90D);
+ agvDetail.setAgvAngle(workDirection);
agvDetail.setVol(5000);
+ agvDetail.setSoc(80);
agvDetailService.updateById(agvDetail);
}
@@ -107,25 +97,25 @@
avoidWaveCalculator.calcDynamicNodeWhenBoot();
// AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
-// agvDetail11.setCode(codeService.selectByData("00000251").getId());
+// agvDetail11.setCode(codeService.getCacheByData("00000251").getId());
// agvDetailService.updateById(agvDetail11);
//
// AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
-// agvDetail12.setCode(codeService.selectByData("00000204").getId());
+// agvDetail12.setCode(codeService.getCacheByData("00000204").getId());
// agvDetailService.updateById(agvDetail12);
//
// AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
-// agvDetail14.setCode(codeService.selectByData("00000101").getId());
+// agvDetail14.setCode(codeService.getCacheByData("00000101").getId());
// agvDetailService.updateById(agvDetail14);
//
// avoidWaveCalculator.calcDynamicNodeWhenBoot();
//
// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
-// codeService.selectByData("00000303").getData(), null);
+// codeService.getCacheByData("00000303").getData(), null);
// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
-// codeService.selectByData("00000411").getData(), null);
+// codeService.getCacheByData("00000411").getData(), null);
// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
-// codeService.selectByData("00000403").getData(), null);
+// codeService.getCacheByData("00000403").getData(), null);
return R.ok();
}
@@ -147,9 +137,11 @@
// start
Collections.shuffle(list);
- List<Agv> agvs = list.subList(0, count);
+ if (list.size() > count) {
+ list = list.subList(0, count);
+ }
int result = 0;
- for (Agv agv : agvs) {
+ for (Agv agv : list) {
patrolService.startupPatrol(agv.getUuid());
result++;
}
@@ -166,8 +158,8 @@
public R astarDemo() {
long startTime = System.currentTimeMillis();
List<String> path = mapService.checkoutPath("18"
- , codeService.selectByData("00001318")
- , codeService.selectByData("00003447")
+ , codeService.getCacheByData("00001318")
+ , codeService.getCacheByData("00003447")
, true
, new ArrayList<>()
, segmentService.getById(1390));
--
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