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/HandlerController.java | 279 ++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 242 insertions(+), 37 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..8f6a78e 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
@@ -2,27 +2,25 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.framework.common.SnowflakeIdWorker;
+import com.zy.acs.manager.common.annotation.OperationLog;
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;
-import com.zy.acs.manager.manager.enums.LocStsType;
-import com.zy.acs.manager.manager.enums.TaskStsType;
-import com.zy.acs.manager.manager.enums.TaskTypeType;
+import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
+import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;
@@ -30,6 +28,7 @@
import java.util.List;
import java.util.concurrent.CompletableFuture;
import java.util.concurrent.ExecutionException;
+import java.util.stream.Collectors;
/**
* Created by vincent on 8/1/2024
@@ -38,6 +37,8 @@
@RestController
@RequestMapping("/api/handler")
public class HandlerController extends BaseController {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
public static final String APP_KEY = "xltys1995";
@@ -50,6 +51,8 @@
@Autowired
private MainService mainService;
@Autowired
+ private MainLockWrapService mainLockWrapService;
+ @Autowired
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
private CodeService codeService;
@@ -58,6 +61,8 @@
@Autowired
private LocService locService;
@Autowired
+ private StaService staService;
+ @Autowired
private TrafficService trafficService;
@Autowired
private ThreadPoolRegulator threadPoolRegulator;
@@ -65,6 +70,42 @@
private MapDataDispatcher mapDataDispatcher;
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
+ @Autowired
+ private PatrolService patrolService;
+
+ @PreAuthorize("hasAuthority('manager:agv:update')")
+ @OperationLog("Locate All Agv")
+ @PostMapping("/locateAllAgv")
+ public synchronized R locateAllAgv() {
+ final Integer MAP_DEFAULT_LEV = 1;
+ redis.deleteValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(MAP_DEFAULT_LEV));
+ avoidWaveCalculator.calcDynamicNodeWhenBoot();
+ return R.ok();
+ }
+
+ @PreAuthorize("hasAuthority('manager:agv:update')")
+ @PostMapping("/patrol/batch/startup")
+ public synchronized R patrolBatchStartup() {
+ List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+ int result = 0;
+ for (Agv agv : list) {
+ patrolService.startupPatrol(agv.getUuid());
+ result++;
+ }
+ return R.ok().add(result);
+ }
+
+ @PreAuthorize("hasAuthority('manager:agv:update')")
+ @PostMapping("/patrol/batch/shutdown")
+ public synchronized R patrolBatchShutdown() {
+ List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>());
+ for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
+ if (patrolService.isPatrolling(agvNo)) {
+ patrolService.shutdownPatrol(agvNo);
+ }
+ }
+ return R.ok();
+ }
@RequestMapping(value = "/control/agv", method = {RequestMethod.GET, RequestMethod.POST})
@Transactional
@@ -99,31 +140,35 @@
}
// generate
+ Loc oriLoc = null;
+ Loc destLoc = null;
+ Sta oriSta = null;
+ Sta destSta = null;
+ Task task = null;
switch (param.getTaskMode()) {
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;
case LOC_TO_LOC:
// oriLoc
- Loc oriLoc = null;
if (!Cools.isEmpty(param.getStartLocNo())) {
oriLoc = locService.getById(param.getStartLocNo());
}
@@ -136,8 +181,13 @@
if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
throw new BusinessException("oriLoc锛�" + oriLoc.getLocNo() + " 涓嶆槸鍦ㄥ簱鐘舵��");
}
+ oriLoc.setLocSts(LocStsType.PAKOUT.val());
+ oriLoc.setUpdateTime(now);
+ if (!locService.updateById(oriLoc)) {
+ throw new BusinessException("oriLoc锛�" + oriLoc.getLocNo() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ }
+
// destLoc
- Loc destLoc = null;
if (!Cools.isEmpty(param.getEndLocNo())) {
destLoc = locService.getById(param.getEndLocNo());
}
@@ -150,42 +200,180 @@
if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
throw new BusinessException("destLoc锛�" + destLoc.getLocNo() + " 涓嶆槸绌洪棽鐘舵��");
}
-
-
- // task
- Task task = new Task();
- task.setAgvId(agv.getId());
- task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
- task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
-
- task.setOriLoc(oriLoc.getId());
- task.setDestLoc(destLoc.getId());
-
- task.setTaskType(param.getTaskMode().val());
- task.setTaskSts(TaskStsType.WAITING.val());
-
- task.setPriority(999);
- task.setIoTime(now);
- task.setStartTime(now);
- if (!taskService.save(task)) {
- throw new BusinessException(task.getSeqNum() + "浠诲姟淇濆瓨澶辫触");
+ destLoc.setLocSts(LocStsType.PAKIN.val());
+ destLoc.setUpdateTime(now);
+ if (!locService.updateById(destLoc)) {
+ throw new BusinessException("destLoc锛�" + destLoc.getLocNo() + " 淇敼搴撲綅鐘舵�佸け璐�");
}
- // loc
+ // task
+ task = new Task();
+
+ task.setOriLoc(oriLoc.getId());
+ task.setOriCode(oriLoc.getCode());
+ task.setDestLoc(destLoc.getId());
+ task.setDestCode(destLoc.getCode());
+ break;
+ case LOC_TO_STA:
+ // oriLoc
+ if (!Cools.isEmpty(param.getStartLocNo())) {
+ oriLoc = locService.getById(param.getStartLocNo());
+ }
+ if (!Cools.isEmpty(param.getStartLocNoStr())) {
+ oriLoc = locService.selecatByLocNo(param.getStartLocNoStr());
+ }
+ if (null == oriLoc) {
+ return R.error();
+ }
+ if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
+ throw new BusinessException("oriLoc锛�" + oriLoc.getLocNo() + " 涓嶆槸鍦ㄥ簱鐘舵��");
+ }
oriLoc.setLocSts(LocStsType.PAKOUT.val());
oriLoc.setUpdateTime(now);
if (!locService.updateById(oriLoc)) {
- throw new BusinessException("oriLoc锛�" + task.getOriLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("oriLoc锛�" + oriLoc.getLocNo() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ }
+
+ // destSta
+ if (!Cools.isEmpty(param.getEndStaNo())) {
+ destSta = staService.getById(param.getEndStaNo());
+ }
+ if (!Cools.isEmpty(param.getEndStaNoStr())) {
+ destSta = staService.selectByStaNo(param.getEndStaNoStr());
+ }
+ if (null == destSta) {
+ return R.error();
+ }
+ if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
+ throw new BusinessException("destSta锛�" + destSta.getStaNo() + " 涓嶆槸鏃犺揣鐘舵��");
+ }
+ destSta.setStaSts(StaStsType.READY_RELEASE.val());
+ destSta.setUpdateTime(now);
+ if (!staService.updateById(destSta)) {
+ throw new BusinessException("destSta锛�" + destSta.getStaNo() + " 淇敼绔欑偣鐘舵�佸け璐�");
+ }
+
+ // task
+ task = new Task();
+
+ task.setOriLoc(oriLoc.getId());
+ task.setOriCode(oriLoc.getCode());
+ task.setDestSta(destSta.getId());
+ task.setDestCode(destSta.getCode());
+ break;
+ case STA_TO_LOC:
+ // oriSta
+ if (!Cools.isEmpty(param.getStartStaNo())) {
+ oriSta = staService.getById(param.getStartStaNo());
+ }
+ if (!Cools.isEmpty(param.getStartStaNoStr())) {
+ oriSta = staService.selectByStaNo(param.getStartStaNoStr());
+ }
+ if (null == oriSta) {
+ return R.error();
+ }
+ if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
+ throw new BusinessException("oriSta锛�" + oriSta.getStaNo() + " 涓嶆槸鏈夎揣鐘舵��");
+ }
+ oriSta.setStaSts(StaStsType.READY_TAKE.val());
+ oriSta.setUpdateTime(now);
+ if (!staService.updateById(oriSta)) {
+ throw new BusinessException("oriSta锛�" + oriSta.getStaNo() + " 淇敼绔欑偣鐘舵�佸け璐�");
+ }
+
+ // destLoc
+ if (!Cools.isEmpty(param.getEndLocNo())) {
+ destLoc = locService.getById(param.getEndLocNo());
+ }
+ if (!Cools.isEmpty(param.getEndLocNoStr())) {
+ destLoc = locService.selecatByLocNo(param.getEndLocNoStr());
+ }
+ if (null == destLoc) {
+ return R.error();
+ }
+ if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
+ throw new BusinessException("destLoc锛�" + destLoc.getLocNo() + " 涓嶆槸绌洪棽鐘舵��");
}
destLoc.setLocSts(LocStsType.PAKIN.val());
destLoc.setUpdateTime(now);
if (!locService.updateById(destLoc)) {
- throw new BusinessException("destLoc锛�" + task.getDestLoc$() + " 淇敼搴撲綅鐘舵�佸け璐�");
+ throw new BusinessException("destLoc锛�" + destLoc.getLocNo() + " 淇敼搴撲綅鐘舵�佸け璐�");
}
+
+ // task
+ task = new Task();
+
+ task.setOriSta(oriSta.getId());
+ task.setOriCode(oriSta.getCode());
+ task.setDestLoc(destLoc.getId());
+ task.setDestCode(destLoc.getCode());
+ break;
+ case STA_TO_STA:
+ // oriSta
+ if (!Cools.isEmpty(param.getStartStaNo())) {
+ oriSta = staService.getById(param.getStartStaNo());
+ }
+ if (!Cools.isEmpty(param.getStartStaNoStr())) {
+ oriSta = staService.selectByStaNo(param.getStartStaNoStr());
+ }
+ if (null == oriSta) {
+ return R.error();
+ }
+ if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
+ throw new BusinessException("oriSta锛�" + oriSta.getStaNo() + " 涓嶆槸鏈夎揣鐘舵��");
+ }
+ oriSta.setStaSts(StaStsType.READY_TAKE.val());
+ oriSta.setUpdateTime(now);
+ if (!staService.updateById(oriSta)) {
+ throw new BusinessException("oriSta锛�" + oriSta.getStaNo() + " 淇敼绔欑偣鐘舵�佸け璐�");
+ }
+
+ // destSta
+ if (!Cools.isEmpty(param.getEndStaNo())) {
+ destSta = staService.getById(param.getEndStaNo());
+ }
+ if (!Cools.isEmpty(param.getEndStaNoStr())) {
+ destSta = staService.selectByStaNo(param.getEndStaNoStr());
+ }
+ if (null == destSta) {
+ return R.error();
+ }
+ if (!destSta.getStaSts().equals(StaStsType.IDLE.val())) {
+ throw new BusinessException("destSta锛�" + destSta.getStaNo() + " 涓嶆槸鏃犺揣鐘舵��");
+ }
+ destSta.setStaSts(StaStsType.READY_RELEASE.val());
+ destSta.setUpdateTime(now);
+ if (!staService.updateById(destSta)) {
+ throw new BusinessException("destSta锛�" + destSta.getStaNo() + " 淇敼绔欑偣鐘舵�佸け璐�");
+ }
+
+ // task
+ task = new Task();
+
+ task.setOriSta(oriSta.getId());
+ task.setOriCode(oriSta.getCode());
+ task.setDestSta(destSta.getId());
+ task.setDestCode(destSta.getCode());
break;
default:
break;
+ }
+
+ if (null != task) {
+ task.setAgvId(agv.getId());
+ task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
+ task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
+
+ task.setTaskType(param.getTaskMode().val());
+ task.setTaskSts(TaskStsType.WAITING.val());
+
+ task.setPriority(999);
+ task.setIoTime(now);
+ task.setStartTime(now);
+ if (!taskService.save(task)) {
+ throw new BusinessException(task.getSeqNum() + "浠诲姟淇濆瓨澶辫触");
+ }
}
return R.ok();
@@ -277,4 +465,21 @@
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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