package com.zy.acs.manager.core.service;
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import com.alibaba.fastjson.JSON;
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import com.zy.acs.common.domain.AgvProtocol;
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import com.zy.acs.common.domain.protocol.AGV_04_UP;
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import com.zy.acs.common.domain.protocol.IMessageBody;
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import com.zy.acs.common.enums.error.AgvErrorType;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.framework.common.DateUtils;
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import com.zy.acs.manager.core.constant.MapDataConstant;
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import com.zy.acs.manager.core.domain.VehicleFaultDto;
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import com.zy.acs.manager.manager.entity.AgvDetail;
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import com.zy.acs.manager.manager.service.*;
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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.scheduling.annotation.Async;
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import org.springframework.stereotype.Service;
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import java.util.Date;
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/**
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* Created by vincent on 2023/6/16
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*/
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@Slf4j
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@Service
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public class AgvDataErrorService {
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private final static Boolean PRINT_LOG = Boolean.FALSE;
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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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 CodeService codeService;
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@Autowired
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private WebsocketService websocketService;
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@Autowired
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private TrafficService trafficService;
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@Autowired
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private MapService mapService;
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@Autowired
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private ThreadPoolRegulator threadPoolRegulator;
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@Autowired
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private JamService jamService;
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@Autowired
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private AvoidWaveCalculator avoidWaveCalculator;
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@Autowired
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private FaultProcessor faultProcessor;
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@Async
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public void dataProcess(AgvProtocol protocol) {
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Date now = new Date();
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IMessageBody msgBody = protocol.getMessageBody();
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assert msgBody != null;
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Long agvId = agvService.getAgvId(protocol.getAgvNo());
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if (null == agvId) {
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log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
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return;
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}
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AgvDetail detail = agvDetailService.selectByAgvId(agvId);
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if (null == detail) {
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detail = new AgvDetail();
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detail.setAgvId(agvId);
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if (!agvDetailService.save(detail)) {
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log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
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return;
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}
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}
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detail.setUpdateTime(now);
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// 故障数据包
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if (msgBody instanceof AGV_04_UP) {
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AGV_04_UP agv_04_up = (AGV_04_UP) msgBody;
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AgvErrorType errorType = AgvErrorType.query(agv_04_up.getHexFaultId());
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log.info("Agv [{}] 故障数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_04_up));
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// save
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faultProcessor.execute(new VehicleFaultDto<>(protocol.getAgvNo(), protocol.getTimestamp(), agv_04_up));
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// detail
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String errorMSg = errorType != null ? errorType.getMsg() : agv_04_up.getHexFaultId();
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detail.setError(errorMSg);
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detail.setErrorTime(new Date());
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}
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// 故障复位
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if (!Cools.isEmpty(detail.realError())) {
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assert detail.getErrorTime() != null;
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if (DateUtils.diffToSeconds(detail.getErrorTime(), new Date()) > 20) {
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detail.setError(MapDataConstant.EMPTY_OF_ERROR);
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}
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}
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if (!agvDetailService.updateById(detail)) {
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log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
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}
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}
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}
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