From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java | 52 ++++++++++++++++++++++++++++++++--------------------
1 files changed, 32 insertions(+), 20 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 2369fee..b109ac2 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
@@ -7,10 +7,7 @@
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.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.*;
@@ -63,6 +60,8 @@
private RouteGenerator routeGenerator;
@Autowired
private FuncStaService funcStaService;
+ @Autowired
+ private AgvModelService agvModelService;
@RequestMapping(value = "/system/info", method = {RequestMethod.GET, RequestMethod.POST})
public R systemInfo() {
@@ -108,11 +107,18 @@
// codeMatrixIdxList.add(codeMatrixIdx);
// }
- List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, path);
+// List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, path);
// System.out.println(codeMatrixIdxList.toString());
- return R.ok().add(codeMatrixIdxList);
+// return R.ok().add(codeMatrixIdxList);
+
+ for (String codeData : path) {
+ Code code = codeService.getCacheByData(codeData);
+ Code byId = codeService.getCacheById(code.getId());
+ }
+
+ return R.ok();
}
// @RequestMapping(value = "/system/route/generate", method = {RequestMethod.GET, RequestMethod.POST})
@@ -131,20 +137,24 @@
.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);
agvDetailService.updateById(agvDetail);
@@ -153,25 +163,25 @@
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();
}
@@ -193,9 +203,11 @@
// 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++;
}
@@ -212,8 +224,8 @@
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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