package com.zy.acs.manager.core.scheduler;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.common.utils.GsonUtils;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.manager.core.cache.CoreCache;
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import com.zy.acs.manager.core.domain.BackpackDto;
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import com.zy.acs.manager.core.domain.CodeStepDto;
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import com.zy.acs.manager.core.domain.MapWsAgvVo;
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import com.zy.acs.manager.core.domain.MapWsVo;
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import com.zy.acs.manager.core.domain.type.JobType;
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import com.zy.acs.manager.core.service.MapService;
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import com.zy.acs.manager.manager.entity.Agv;
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import com.zy.acs.manager.manager.entity.AgvDetail;
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import com.zy.acs.manager.manager.entity.AgvModel;
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import com.zy.acs.manager.manager.entity.Code;
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import com.zy.acs.manager.manager.service.AgvDetailService;
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import com.zy.acs.manager.manager.service.AgvModelService;
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import com.zy.acs.manager.manager.service.AgvService;
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import com.zy.acs.manager.manager.service.CodeService;
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import com.zy.acs.manager.manager.websocket.MapWebSocket;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import javax.annotation.PostConstruct;
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import javax.annotation.PreDestroy;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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import java.util.stream.Collectors;
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@Slf4j
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@Component
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public class MapDataWsScheduler {
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public static final int WEBSOCKET_BROADCAST_INTERVAL = 300;
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private ExecutorService singleThreadExecutor;
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private MapService mapService;
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@PostConstruct
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public void init() {
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this.singleThreadExecutor = Executors.newSingleThreadExecutor();
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this.singleThreadExecutor.execute(() -> {
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try { Thread.sleep(200); } catch (InterruptedException ignore) {}
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while (!Thread.currentThread().isInterrupted()) {
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try {
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MapWsVo mapWsVo = new MapWsVo();
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mapWsVo.setAgvVos(syncAgv());
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MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
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Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL / 3);
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} catch (Exception e) {
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log.error("MapDataWsScheduler.init", e);
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}
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}
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});
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}
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private List<MapWsAgvVo> syncAgv() {
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List<MapWsAgvVo> agvVos = new ArrayList<>();
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>()
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// .eq(Agv::getStatus, 1)
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);
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Map<String, List<String>> codeDataListMap = mapService.queryCodeListFromDynamicNode(null
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, agvList.stream().map(Agv::getUuid).collect(Collectors.toSet()));
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for (Agv agv : agvList) {
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AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail) { continue; }
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Long recentCode = agvDetail.getRecentCode();
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if (null == recentCode) { continue; }
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Code code = codeService.getCacheById(recentCode);
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if (null == code) { continue; }
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JobType jobType = this.getJobType(agv.getId(), code.getData());
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MapWsAgvVo vo = new MapWsAgvVo();
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vo.setAgvModel(agvModel.getType());
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vo.setAgvNo(agv.getUuid());
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vo.setCode(code.getData());
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vo.setDirection(agvDetail.getAgvAngle());
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vo.setBackpack(this.getBackpack(agv.getId(), agvDetail.getBackpack()));
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if (null != jobType && null != jobType.increase) {
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vo.setBackpack(vo.getBackpack() + (jobType.increase ? 1 : -1));
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}
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vo.setSlots(agvModel.getBackpack());
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vo.setBattery(agvDetail.getSoc());
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vo.setJobType(null == jobType ? null : jobType.breif);
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vo.setError(agvDetail.realError());
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vo.setDynamicRoute(codeDataListMap.get(agv.getUuid()));
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agvVos.add(vo);
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}
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return agvVos;
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}
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private JobType getJobType(Long agvId, String currCodeData) {
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if (null == agvId || Cools.isEmpty(currCodeData)) {
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return null;
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}
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CodeStepDto codeStepDto = CoreCache.AGV_MOCK_STEP_CACHE.get(agvId);
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if (null == codeStepDto) {
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return null;
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}
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if (!codeStepDto.getCodeData().equals(currCodeData)) {
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return null;
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}
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return codeStepDto.getJobType();
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}
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@PreDestroy
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public void destroy() {
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this.singleThreadExecutor.shutdownNow();
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}
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private Integer getBackpack(Long agvId, String backpackJson) {
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if (null == agvId || Cools.isEmpty(backpackJson)) {
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return 0;
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}
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List<BackpackDto> backpackDtoList = JSON.parseArray(backpackJson, BackpackDto.class);
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int jsonCount = (int) backpackDtoList.stream().filter(BackpackDto::getLoaded).count();
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Integer cacheCount = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
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if (null == cacheCount) {
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return jsonCount;
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}
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return Math.max(jsonCount, cacheCount);
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}
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}
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