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/manager/controller/MapController.java | 126 +++++++++++++++++++++++++++++++++--------
1 files changed, 100 insertions(+), 26 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/MapController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/MapController.java
index 299d4e2..513ab9b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/MapController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/MapController.java
@@ -13,15 +13,21 @@
import com.zy.acs.manager.common.domain.MapDto;
import com.zy.acs.manager.common.domain.MapRouteDto;
import com.zy.acs.manager.common.exception.BusinessException;
+import com.zy.acs.manager.core.domain.BackpackDto;
+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.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.controller.param.MapDataParam;
import com.zy.acs.manager.manager.controller.param.MapParam;
import com.zy.acs.manager.manager.controller.result.MapAgvVo;
-import com.zy.acs.manager.manager.entity.Map;
+import com.zy.acs.manager.manager.controller.result.MapPointVo;
+import com.zy.acs.manager.manager.controller.result.MapRouteVo;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.AgvStsType;
-import com.zy.acs.manager.manager.mapper.MapMapper;
+import com.zy.acs.manager.manager.enums.StatusType;
+import com.zy.acs.manager.manager.enums.TaskStsType;
+import com.zy.acs.manager.manager.mapper.NavMapMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.controller.BaseController;
import com.zy.acs.manager.system.service.ConfigService;
@@ -31,6 +37,7 @@
import org.springframework.web.bind.annotation.*;
import java.util.*;
+import java.util.stream.Collectors;
/**
* Created by vincent on 2023/6/1
@@ -54,13 +61,26 @@
@Autowired
private MapService mapService;
@Autowired
- private ConfigService configService;
+ private TaskService taskService;
@Autowired
- private MapMapper mapMapper;
+ private NavMapMapper navMapMapper;
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
private LocService locService;
+ @Autowired
+ private ConfigService configService;
+ @Autowired
+ private PatrolService patrolService;
+ @Autowired
+ private AvoidWaveCalculator avoidWaveCalculator;
+
+ @PreAuthorize("hasAuthority('manager:loc:update')")
+ @PostMapping("/startupOrShutdown")
+ public synchronized R startupOrShutdown() {
+ Boolean taskAssignMode = configService.getVal("TaskAssignMode", Boolean.class);
+ return configService.setVal("TaskAssignMode", !taskAssignMode) ? R.ok() : R.error();
+ }
@PreAuthorize("hasAuthority('manager:loc:list')")
@PostMapping("/data/fetch")
@@ -78,10 +98,11 @@
mapCodeItems.add(mapItem);
});
// common
- Map activeMap = mapMapper.selectActive(zoneId, floor);
+ NavMap activeNavMap = navMapMapper.selectActive(zoneId, floor);
return R.ok().add(Cools
+ .add("rcsStatus", configService.getVal("TaskAssignMode", Boolean.class))
.add("point", GsonUtils.toJson(mapCodeItems))
- .add("common", activeMap.getData())
+ .add("common", null != activeNavMap ? activeNavMap.getData() : null)
);
}
@@ -92,25 +113,25 @@
Date now = new Date();
Long userId = getLoginUserId();
// previous
- Map previousMap = mapMapper.selectActive(param.getZoneId(), param.getFloor());
- if (null != previousMap) {
- previousMap.setActive(0);
- previousMap.setUpdateTime(now);
- previousMap.setUpdateBy(userId);
- if (0 == mapMapper.updateById(previousMap)) {
+ NavMap previousNavMap = navMapMapper.selectActive(param.getZoneId(), param.getFloor());
+ if (null != previousNavMap) {
+ previousNavMap.setActive(0);
+ previousNavMap.setUpdateTime(now);
+ previousNavMap.setUpdateBy(userId);
+ if (0 == navMapMapper.updateById(previousNavMap)) {
throw new CoolException("Save Fail");
}
}
// current
- Map map = new Map();
- map.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- map.setZoneId(param.getZoneId());
- map.setFloor(param.getFloor());
- map.setData(GsonUtils.toJson(param.getItemList()));
- map.setActive(1);
- map.setUpdateBy(userId);
- map.setCreateBy(userId);
- if (0 == mapMapper.insert(map)) {
+ NavMap navMap = new NavMap();
+ navMap.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ navMap.setZoneId(param.getZoneId());
+ navMap.setFloor(param.getFloor());
+ navMap.setData(GsonUtils.toJson(param.getItemList()));
+ navMap.setActive(1);
+ navMap.setUpdateBy(userId);
+ navMap.setCreateBy(userId);
+ if (0 == navMapMapper.insert(navMap)) {
throw new CoolException("Save Fail");
}
return R.ok("Save Success");
@@ -133,10 +154,63 @@
Agv agv = agvService.selectByUuid(agvNo);
AgvDetail agvDetail = agvDetailService.selectByAgvNo(agvNo);
MapAgvVo vo = new MapAgvVo();
+ vo.setAgvId(agv.getId());
vo.setAgvNo(agv.getUuid());
+ vo.setStatus(agv.getStatus());
+ if (null != agvDetail) {
+ vo.setOnline(agvService.judgeOnline(agvDetail.getAgvId()));
+ vo.setAgvStatus(agvDetail.getStatusDesc());
+ vo.setVol(String.valueOf(agvDetail.getVol()));
+ vo.setSoc(String.valueOf(agvDetail.getSoc()));
+ vo.setPos(agvDetail.getPos() != null && agvDetail.getPos() == 1);
+ Code code = codeService.getCacheById(agvDetail.getRecentCode());
+ if (null != code) {
+ vo.setCode(code.getData());
+ }
+ vo.setDirection(agvDetail.getAgvAngle());
+ vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
+ vo.setPatrol(patrolService.isPatrolling(agvNo));
+ String error = agvDetail.realError();
+ if (!Cools.isEmpty(error)) {
+ vo.setError(error);
+ }
+ }
+ List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
+ if (!Cools.isEmpty(tasks)) {
+ vo.setTaskIds(tasks.stream().map(Task::getId).collect(Collectors.toList()));
+ }
return R.ok().add(vo);
}
+ @PostMapping("/point/info")
+ public R pointInfo(@RequestParam(required = false) String codeData) {
+ if (Cools.isEmpty(codeData)) {
+ return R.error();
+ }
+ Code code = codeService.getCacheByData(codeData);
+ MapPointVo vo = new MapPointVo();
+ vo.setCodeId(code.getId());
+ vo.setCodeData(code.getData());
+ vo.setStatus(code.getStatus());
+ return R.ok().add(vo);
+ }
+
+ @PostMapping("/route/list")
+ public R routeList(@RequestParam(required = false) Long zoneId) {
+ List<MapRouteVo> result = new ArrayList<>();
+ List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, StatusType.ENABLE.val));
+ for (Route route : routeList) {
+ MapRouteVo vo = new MapRouteVo();
+ vo.setRouteId(route.getId());
+ vo.setStartCode(route.getStartCode());
+ vo.setStartCodeStr(route.getStartCode$());
+ vo.setEndCode(route.getEndCode());
+ vo.setEndCodeStr(route.getEndCode$());
+ vo.setDirection(route.getDirection());
+ result.add(vo);
+ }
+ return R.ok().add(result);
+ }
@@ -166,7 +240,7 @@
List<Code> codes = codeService.list();
List<Code> codeArr = param.getCodeArr();
for (Code code : codeArr) {
- Code one = codeService.selectByData(code.getData());
+ Code one = codeService.getCacheByData(code.getData());
if (one == null) {
if (!codeService.save(code)) {
throw new BusinessException(code.getData()+" save fail![Code]");
@@ -192,8 +266,8 @@
List<MapParam.Route> routeArr = param.getRouteArr();
for (MapParam.Route paramRoute : routeArr) {
- Code startCode = codeService.selectByData(paramRoute.getStartCode());
- Code endCode = codeService.selectByData(paramRoute.getEndCode());
+ Code startCode = codeService.getCacheByData(paramRoute.getStartCode());
+ Code endCode = codeService.getCacheByData(paramRoute.getEndCode());
Route route = routeService.findByCodeOfBoth(startCode.getId(), endCode.getId());
if (route == null) {
@@ -270,7 +344,7 @@
if (Cools.isEmpty(agvParam.getPos())) {
throw new BusinessException(agvParam.getAgvNo() + " agv not in position锛�");
}
- Code code = codeService.selectByData(agvParam.getPos());
+ Code code = codeService.getCacheByData(agvParam.getPos());
Agv agv = agvService.selectByUuid(agvParam.getAgvNo());
if (agv == null) {
agv = new Agv();
@@ -355,7 +429,7 @@
for (Agv agv : agvList) {
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (null == agvDetail) { continue; }
- Code currCode = codeService.getById(agvDetail.getCode());
+ Code currCode = codeService.getCacheById(agvDetail.getCode());
MapAgvDto agvDto = new MapAgvDto();
agvDto.setUuid(agv.getUuid());
agvDto.setCurrCode(currCode==null?null:currCode.getData());
--
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