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_03_UP;
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import com.zy.acs.common.domain.protocol.IMessageBody;
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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.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 AgvDataHeartbeatService {
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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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// 心跳包
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if (msgBody instanceof AGV_03_UP) {
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AGV_03_UP agv_03_up = (AGV_03_UP) msgBody;
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this.sync(agv_03_up, detail);
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if (PRINT_LOG) {
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log.info("Agv [{}] 心跳包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_03_up));
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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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// 心跳包
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private void sync(AGV_03_UP mesBody, AgvDetail detail) {
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detail.setVol(mesBody.getVoltage());
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detail.setSoc(mesBody.getSoc());
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detail.setSoh(mesBody.getSoh());
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detail.setBatteryFail(mesBody.getBatterFailSign());
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detail.setTempe(JSON.toJSONString(Cools
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.add("batteryTempe", mesBody.getBatteryTempe())
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.add("envirTempe", mesBody.getEnvirTempe())
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.add("leftMotorTempe", mesBody.getLeftMotorTempe())
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.add("rightMotorTempe", mesBody.getRightMotorTempe())
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.add("raiseMotorTempe", mesBody.getRaiseMotorTempe())
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.add("telescopicMotorTempe", mesBody.getTelescopicMotorTempe())
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.add("rotatingMotorTempe", mesBody.getRotatingMotorTempe())
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));
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detail.setMotorFail(JSON.toJSONString(Cools
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.add("leftMotorFailSign", mesBody.getLeftMotorFailSign())
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.add("rightMotorFailSign", mesBody.getRightMotorFailSign())
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.add("raiseMotorFailSign", mesBody.getRaiseMotorFailSign())
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.add("telescopicMotorFailSign", mesBody.getTelescopicMotorFailSign())
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.add("rotatingMotorFailSign", mesBody.getRotatingMotorFailSign())
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));
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detail.setFailSign(String.valueOf(mesBody.getFailSign()));
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detail.setBootTime(mesBody.getBootTime());
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}
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}
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