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.*;
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import com.zy.acs.common.enums.AgvStatusType;
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import com.zy.acs.common.enums.error.AgvErrorType;
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import com.zy.acs.common.utils.GsonUtils;
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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.BackpackDto;
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import com.zy.acs.manager.core.domain.VehicleFaultDto;
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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.Code;
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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.ArrayList;
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import java.util.Date;
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import java.util.List;
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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 AgvDataService {
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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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Agv agv = agvService.selectByUuid(protocol.getAgvNo());
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if (null == agv) {
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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(agv.getId());
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if (null == detail) {
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detail = new AgvDetail();
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detail.setAgvId(agv.getId());
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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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// 有码实时数据包
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if (msgBody instanceof AGV_12_UP) {
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AGV_12_UP agv_12_up = (AGV_12_UP) msgBody;
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// unlock path
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threadPoolRegulator.getInstance().execute(() -> {
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mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode());
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});
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// finish jam
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threadPoolRegulator.getInstance().execute(() -> jamService.checkIfFinish(agv.getId(), agv_12_up.getQrCode()));
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// websocketService.agvInfoBroadcastOnPos(new WebsocketDto<AGV_12_UP>("agv", agv.getUuid(), agv_12_up));
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this.sync(agv_12_up, detail);
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// redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_12_up);
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if (PRINT_LOG) {
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log.info("Agv [{}] 有码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_12_up));
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}
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}
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// 无码实时数据包
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if (msgBody instanceof AGV_13_UP) {
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AGV_13_UP agv_13_up = (AGV_13_UP) msgBody;
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// websocketService.agvInfoBroadcastWithOutPos(new WebsocketDto<AGV_13_UP>("agv", agv.getUuid(), agv_13_up));
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this.sync(agv_13_up, detail);
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// redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_13_up);
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if (PRINT_LOG) {
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log.info("Agv [{}] 无码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_13_up));
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}
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}
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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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// 登陆包
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if (msgBody instanceof AGV_F0_UP) {
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AGV_F0_UP agv_f0_up = (AGV_F0_UP) msgBody;
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this.sync(agv_f0_up, detail);
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log.info("Agv [{}] 登陆包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_f0_up));
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}
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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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// 有码实时数据包
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private void sync(AGV_12_UP mesBody, AgvDetail detail) {
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detail.setStatus(mesBody.getStatus());
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Code code = codeService.selectByData(mesBody.getQrCode());
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if (null != code) {
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detail.setCode(code.getId());
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detail.setLastCode(null);
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detail.setPos(1);
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// if (!agvDetailService.updatePosCode(detail.getId(), code.getId())) {
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// log.error("Agv [{}] 更新定位数据失败 ！！！", agvService.getById(detail.getAgvId()).getUuid());
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// }
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} else {
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log.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
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}
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// 地面码偏移
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detail.setCodeOffsert(JSON.toJSONString(Cools
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.add("offsetX", mesBody.getOffsetX())
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.add("offsetY", mesBody.getOffsetX())
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.add("groundCodeOffset0", mesBody.getGroundCodeOffset0())
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));
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detail.setStraightVal((double) mesBody.getStraightDirectionPosition());
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detail.setAgvAngle((double) mesBody.getAGVCurrentAngle());
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detail.setGyroAngle((double) mesBody.getGyroAngle());
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detail.setEncoderAngle((double) mesBody.getEncoderAngle());
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detail.setHigh(mesBody.getCurrentAltitude());
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detail.setSensorSts((long) mesBody.getSensorStatusFlags());
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List<BackpackDto> backpackDtoList = new ArrayList<>();
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backpackDtoList.add(new BackpackDto(1, mesBody.isTempLoc1()));
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backpackDtoList.add(new BackpackDto(2, mesBody.isTempLoc2()));
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backpackDtoList.add(new BackpackDto(3, mesBody.isTempLoc3()));
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backpackDtoList.add(new BackpackDto(4, mesBody.isTempLoc4()));
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backpackDtoList.add(new BackpackDto(5, mesBody.isTempLoc5()));
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backpackDtoList.add(new BackpackDto(6, mesBody.isTempLoc6()));
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backpackDtoList.add(new BackpackDto(7, mesBody.isTempLoc7()));
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detail.setBackpack(GsonUtils.toJson(backpackDtoList));
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}
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// 无码实时数据包
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private void sync(AGV_13_UP mesBody, AgvDetail detail) {
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detail.setStatus(mesBody.getStatus());
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Code code = codeService.selectByData(mesBody.getQrCode());
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if (null != code) {
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if (!detail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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detail.setCode(null);
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detail.setLastCode(code.getId());
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detail.setPos(0);
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} else {
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detail.setCode(code.getId());
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detail.setLastCode(null);
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detail.setPos(1);
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}
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} else {
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log.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
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}
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detail.setStraightVal((double) mesBody.getStraightDirectionPosition());
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detail.setAgvAngle((double) mesBody.getAGVCurrentAngle());
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detail.setGyroAngle((double) mesBody.getGyroAngle());
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detail.setEncoderAngle((double) mesBody.getEncoderAngle());
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detail.setHigh(mesBody.getCurrentAltitude());
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detail.setSensorSts((long) mesBody.getSensorStatusFlags());
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List<BackpackDto> backpackDtoList = new ArrayList<>();
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backpackDtoList.add(new BackpackDto(1, mesBody.isTempLoc1()));
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backpackDtoList.add(new BackpackDto(2, mesBody.isTempLoc2()));
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backpackDtoList.add(new BackpackDto(3, mesBody.isTempLoc3()));
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backpackDtoList.add(new BackpackDto(4, mesBody.isTempLoc4()));
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backpackDtoList.add(new BackpackDto(5, mesBody.isTempLoc5()));
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backpackDtoList.add(new BackpackDto(6, mesBody.isTempLoc6()));
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backpackDtoList.add(new BackpackDto(7, mesBody.isTempLoc7()));
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detail.setBackpack(GsonUtils.toJson(backpackDtoList));
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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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// 登陆包
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private void sync(AGV_F0_UP mesBody, AgvDetail detail) {
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}
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}
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