From fd6d26f8ffe6a37533e741337f3eca9134d934c7 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 15 一月 2025 10:42:59 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java | 36 ++++++++++++++++++++++++++++--------
1 files changed, 28 insertions(+), 8 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 2573042..ccf9def 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
@@ -8,10 +8,7 @@
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
-import com.zy.acs.manager.core.service.AvoidWaveCalculator;
-import com.zy.acs.manager.core.service.MainService;
-import com.zy.acs.manager.core.service.ThreadPoolRegulator;
-import com.zy.acs.manager.core.service.TrafficService;
+import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.ActionStsType;
@@ -50,6 +47,8 @@
@Autowired
private MainService mainService;
@Autowired
+ private MainLockWrapService mainLockWrapService;
+ @Autowired
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
private CodeService codeService;
@@ -65,6 +64,8 @@
private MapDataDispatcher mapDataDispatcher;
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
+ @Autowired
+ private PatrolService patrolService;
@RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
@Transactional
@@ -103,21 +104,21 @@
case MOVE:
Code endCode = null;
if (!Cools.isEmpty(param.getEndCode())) {
- endCode = codeService.getById(param.getEndCode());
+ endCode = codeService.getCacheById(param.getEndCode());
}
if (!Cools.isEmpty(param.getEndCodeStr())) {
- endCode = codeService.selectByData(param.getEndCodeStr());
+ endCode = codeService.getCacheByData(param.getEndCodeStr());
}
if (null == endCode) {
return R.error();
}
- if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskMode(), endCode.getData())) {
+ if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), endCode.getData(), null)) {
return R.error();
}
break;
case TO_CHARGE:
case TO_STANDBY:
- if (!mainService.buildMinorTask(agv, agvDetail, param.getTaskMode(), null)) {
+ if (!mainLockWrapService.buildMinorTask(agv.getId(), param.getTaskMode(), null, null)) {
return R.error();
}
break;
@@ -160,7 +161,9 @@
task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
task.setOriLoc(oriLoc.getId());
+ task.setOriCode(oriLoc.getCode());
task.setDestLoc(destLoc.getId());
+ task.setDestCode(destLoc.getCode());
task.setTaskType(param.getTaskMode().val());
task.setTaskSts(TaskStsType.WAITING.val());
@@ -277,4 +280,21 @@
return R.ok();
}
+ @RequestMapping(value = "/agv/patrol", method = {RequestMethod.GET, RequestMethod.POST})
+ public R agvPatrol(@RequestHeader String appKey,
+ @RequestBody HandlerPublishParam param) throws ExecutionException, InterruptedException {
+ if (Cools.isEmpty(param.getAgvNo(), appKey)) {
+ return R.error();
+ }
+ if (!APP_KEY.equals(appKey)) {
+ return R.error();
+ }
+ String agvNo = param.getAgvNo();
+ if (patrolService.isPatrolling(agvNo)) {
+ return patrolService.shutdownPatrol(agvNo);
+ } else {
+ return patrolService.startupPatrol(agvNo);
+ }
+ }
+
}
--
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