package com.zy.acs.manager.core.service;
|
|
import com.alibaba.fastjson.JSON;
|
import com.zy.acs.common.domain.AgvProtocol;
|
import com.zy.acs.common.domain.protocol.AGV_13_UP;
|
import com.zy.acs.common.domain.protocol.IMessageBody;
|
import com.zy.acs.common.enums.AgvStatusType;
|
import com.zy.acs.common.utils.GsonUtils;
|
import com.zy.acs.common.utils.RedisSupport;
|
import com.zy.acs.manager.core.domain.BackpackDto;
|
import com.zy.acs.manager.manager.entity.AgvDetail;
|
import com.zy.acs.manager.manager.entity.Code;
|
import com.zy.acs.manager.manager.service.*;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.scheduling.annotation.Async;
|
import org.springframework.stereotype.Service;
|
|
import java.util.ArrayList;
|
import java.util.Date;
|
import java.util.List;
|
|
/**
|
* Created by vincent on 2023/6/16
|
*/
|
@Slf4j
|
@Service
|
public class AgvDataNoCodeService {
|
|
private final static Boolean PRINT_LOG = Boolean.FALSE;
|
|
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
|
|
@Autowired
|
private AgvService agvService;
|
@Autowired
|
private AgvDetailService agvDetailService;
|
@Autowired
|
private CodeService codeService;
|
@Autowired
|
private WebsocketService websocketService;
|
@Autowired
|
private TrafficService trafficService;
|
@Autowired
|
private MapService mapService;
|
@Autowired
|
private ThreadPoolRegulator threadPoolRegulator;
|
@Autowired
|
private JamService jamService;
|
@Autowired
|
private AvoidWaveCalculator avoidWaveCalculator;
|
@Autowired
|
private FaultProcessor faultProcessor;
|
|
@Async
|
public void dataProcess(AgvProtocol protocol) {
|
Date now = new Date();
|
|
IMessageBody msgBody = protocol.getMessageBody();
|
assert msgBody != null;
|
|
Long agvId = agvService.getAgvId(protocol.getAgvNo());
|
if (null == agvId) {
|
log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
|
return;
|
}
|
AgvDetail detail = agvDetailService.selectByAgvId(agvId);
|
if (null == detail) {
|
detail = new AgvDetail();
|
detail.setAgvId(agvId);
|
if (!agvDetailService.save(detail)) {
|
log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
|
return;
|
}
|
}
|
detail.setUpdateTime(now);
|
|
|
// 无码实时数据包
|
if (msgBody instanceof AGV_13_UP) {
|
AGV_13_UP agv_13_up = (AGV_13_UP) msgBody;
|
// websocketService.agvInfoBroadcastWithOutPos(new WebsocketDto<AGV_13_UP>("agv", agv.getUuid(), agv_13_up));
|
this.sync(agv_13_up, detail);
|
// redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_13_up);
|
if (PRINT_LOG) {
|
log.info("Agv [{}] 无码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_13_up));
|
}
|
}
|
|
if (!agvDetailService.updateById(detail)) {
|
log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
|
}
|
|
}
|
|
|
// 无码实时数据包
|
private void sync(AGV_13_UP mesBody, AgvDetail detail) {
|
detail.setStatus(mesBody.getStatus());
|
|
Code code = codeService.getCacheByData(mesBody.getQrCode());
|
if (null != code) {
|
|
if (!detail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
|
detail.setCode(null);
|
detail.setLastCode(code.getId());
|
detail.setPos(0);
|
} else {
|
detail.setCode(code.getId());
|
detail.setLastCode(null);
|
detail.setPos(1);
|
}
|
|
|
} else {
|
log.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
|
}
|
|
detail.setStraightVal((double) mesBody.getStraightDirectionPosition());
|
|
detail.setAgvAngle((double) mesBody.getAGVCurrentAngle());
|
|
detail.setGyroAngle((double) mesBody.getGyroAngle());
|
|
detail.setEncoderAngle((double) mesBody.getEncoderAngle());
|
|
detail.setHigh(mesBody.getCurrentAltitude());
|
|
detail.setSensorSts((long) mesBody.getSensorStatusFlags());
|
|
List<BackpackDto> backpackDtoList = new ArrayList<>();
|
backpackDtoList.add(new BackpackDto(1, mesBody.isTempLoc1()));
|
backpackDtoList.add(new BackpackDto(2, mesBody.isTempLoc2()));
|
backpackDtoList.add(new BackpackDto(3, mesBody.isTempLoc3()));
|
backpackDtoList.add(new BackpackDto(4, mesBody.isTempLoc4()));
|
backpackDtoList.add(new BackpackDto(5, mesBody.isTempLoc5()));
|
backpackDtoList.add(new BackpackDto(6, mesBody.isTempLoc6()));
|
backpackDtoList.add(new BackpackDto(7, mesBody.isTempLoc7()));
|
detail.setBackpack(GsonUtils.toJson(backpackDtoList));
|
|
}
|
|
}
|
