From e6c977aadbd6fdfa9c0d4be5d16dd83cf4677a79 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 15 十一月 2024 15:12:48 +0800
Subject: [PATCH] #

---
 zy-acs-flow/src/map/constants.js                                                       |    2 
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java       |    4 +-
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java |    2 
 zy-acs-manager/src/main/java/com/zy/acs/manager/common/security/SecurityConfig.java    |    2 
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java               |   81 ++++++++++++++++++++++++++++++++++++++++
 5 files changed, 86 insertions(+), 5 deletions(-)

diff --git a/zy-acs-flow/src/map/constants.js b/zy-acs-flow/src/map/constants.js
index 17a3360..6564ea1 100644
--- a/zy-acs-flow/src/map/constants.js
+++ b/zy-acs-flow/src/map/constants.js
@@ -1,5 +1,5 @@
 
-export const ANIMATE_DURING_TIME = 500;
+export const ANIMATE_DURING_TIME = 200;
 
 export const MAP_MODE = Object.freeze({
     OBSERVER_MODE: "1",
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/security/SecurityConfig.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/security/SecurityConfig.java
index 5a24b45..3fe3948 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/security/SecurityConfig.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/security/SecurityConfig.java
@@ -34,7 +34,7 @@
 public class SecurityConfig extends WebSecurityConfigurerAdapter {
 
     public static final String[] FILTER_PATH = new String[]{
-            "/handler/**",
+            "/demo/**",
             "/test/**",
             "/fake/**",
             "/digital/**",
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
new file mode 100644
index 0000000..c3ee55e
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
@@ -0,0 +1,81 @@
+package com.zy.acs.manager.core;
+
+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.manager.entity.AgvDetail;
+import com.zy.acs.manager.manager.enums.TaskTypeType;
+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.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * Created by vincent on 11/15/2024
+ */
+@RestController
+@RequestMapping("/demo")
+public class DemoController extends BaseController {
+
+    @Autowired
+    private AgvService agvService;
+    @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;
+
+
+    @GetMapping("/dead/lock")
+    public R aaa() {
+        AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
+        agvDetail11.setCode(codeService.selectByData("00000251").getId());
+        agvDetailService.updateById(agvDetail11);
+
+        AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
+        agvDetail12.setCode(codeService.selectByData("00000204").getId());
+        agvDetailService.updateById(agvDetail12);
+
+        AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
+        agvDetail14.setCode(codeService.selectByData("00000101").getId());
+        agvDetailService.updateById(agvDetail14);
+
+        avoidWaveCalculator.calcDynamicNodeWhenBoot();
+
+
+        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
+                codeService.selectByData("00000303").getData(), null);
+        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
+                codeService.selectByData("00000411").getData(), null);
+        mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
+                codeService.selectByData("00000403").getData(), null);
+
+        return R.ok();
+    }
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
index 7131104..43f55bb 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
@@ -31,7 +31,7 @@
 @Component
 public class MapDataWsScheduler {
 
-    public static final int WEBSOCKET_BROADCAST_INTERVAL = 500;
+    public static final int WEBSOCKET_BROADCAST_INTERVAL = 200;
 
     private ExecutorService singleThreadExecutor;
 
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 6ec43b9..0d5ee87 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -207,9 +207,9 @@
         List<String> pathList = new ArrayList<>();
 
         // 鏃犻殰纰嶈В
-        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath);
+        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false);
         // 閬胯瑙�
-        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath);
+        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true);
 
         if (!Cools.isEmpty(lockPathList) && // 瀛樺湪閬胯瑙�
             Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10

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