package com.zy.acs.manager.fake;
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import com.zy.acs.common.constant.RedisConstant;
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import com.zy.acs.common.domain.AgvProtocol;
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import com.zy.acs.common.domain.protocol.AGV_11_UP;
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import com.zy.acs.common.enums.AgvCompleteType;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.manager.manager.entity.Action;
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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.enums.ActionStsType;
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import com.zy.acs.manager.manager.enums.ActionTypeType;
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import com.zy.acs.manager.manager.service.ActionService;
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import com.zy.acs.manager.manager.service.AgvDetailService;
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import com.zy.acs.manager.manager.service.CodeService;
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import lombok.extern.slf4j.Slf4j;
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import java.util.List;
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import java.util.Objects;
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/**
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* Created by vincent on 11/11/2024
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*/
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@Slf4j
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public class AgvSimulatorTask implements Runnable {
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private final Agv agv;
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private final AgvDetailService agvDetailService;
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private final ActionService actionService;
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private final CodeService codeService;
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private final List<Action> actionList;
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private final RedisSupport redis;
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private final String groupId;
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public AgvSimulatorTask(
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Agv agv
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, RedisSupport redis
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, AgvDetailService agvDetailService
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, ActionService actionService
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, CodeService codeService
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, List<Action> actionList
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) {
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this.agv = agv;
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this.redis = redis;
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this.agvDetailService = agvDetailService;
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this.actionService = actionService;
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this.codeService = codeService;
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this.actionList = actionList;
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this.groupId = actionList.get(0).getGroupId();
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}
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@Override
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public void run() {
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try {
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FakeProcessor.AGV_PROCESSING_MAP.put(agv.getId(), true);
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String qrCode = null;
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for (Action action : actionList) {
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processAction(agv, action);
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qrCode = action.getCode();
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}
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this.finishActionList(qrCode);
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} catch (Exception e) {
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log.error("AgvSimulatorTask AGV[{}]", agv.getUuid(), e);
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} finally {
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FakeProcessor.AGV_PROCESSING_MAP.put(agv.getId(), false);
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}
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}
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private void processAction(Agv agv, Action action) throws InterruptedException {
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (agvDetail == null) {
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return;
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}
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switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
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case TurnCorner:
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simulateRotating(agv, agvDetail, action);
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break;
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case StraightBackUnturnable:
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case StraightBackTurnable:
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case StraightAheadUnturnable:
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case StraightAheadTurnable:
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case FinishPath:
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case DockingCharge:
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simulateWalking(agv, agvDetail, action);
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break;
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case ReadyTakeFromShelvesLoc:
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case ReadyReleaseToShelvesLoc:
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break;
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default:
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log.warn("Unknown action type {} for AGV ID {}.", action.getActionType(), agv.getId());
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break;
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}
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}
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private void simulateWalking(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
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Code currCode = codeService.getById(agvDetail.getRecentCode());
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Code code = codeService.selectByData(action.getCode());
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agvDetail.setPos(1);
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agvDetail.setCode(code.getId());
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// 模拟电量消耗
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// agvDetail.setVol(agvDetail.getVol() - 0.1 * distanceToMove); // 根据距离消耗电量
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agvDetailService.updateById(agvDetail);
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Thread.sleep(1000);
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action.setActionSts(ActionStsType.FINISH.val());
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actionService.updateById(action);
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}
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/**
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* 模拟AGV旋转
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*
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* @param agv 当前AGV
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* @param agvDetail AGV详细信息
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* @param action 当前动作
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*/
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private void simulateRotating(Agv agv, AgvDetail agvDetail, Action action) throws InterruptedException {
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// Double agvAngle = agvDetail.getAgvAngle();
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// double actionAngle = Double.parseDouble(action.getParams());
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double totalAngle = Double.parseDouble(action.getParams()); // 假设Action有angle属性
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double stepAngle = 45.0; // 每秒旋转15度，具体值根据需求调整
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double actionProgress = 0.0;
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while (actionProgress < totalAngle) {
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double angleToRotate = Math.min(stepAngle, totalAngle - actionProgress);
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// 更新AGV的角度
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double newAngle = (agvDetail.getAgvAngle() + angleToRotate) % 360;
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agvDetail.setAgvAngle(newAngle);
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// 模拟电量消耗
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// agvDetail.setVol(agvDetail.getVol() - 0.05 * (angleToRotate / 15.0)); // 根据角度消耗电量
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// 更新AGV详细信息
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agvDetailService.updateById(agvDetail);
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// 模拟实际执行时间
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Thread.sleep(1000); // 每秒执行一次
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actionProgress += angleToRotate;
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}
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// 动作完成，更新状态
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action.setActionSts(ActionStsType.FINISH.val());
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actionService.updateById(action);
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}
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private void finishActionList(String qrCode) {
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// 1.complete data
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AGV_11_UP agv_11_up = new AGV_11_UP();
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agv_11_up.setSerialNo(groupId);
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agv_11_up.setCompleteCode(AgvCompleteType.ENTIRE_PATH_COMPLETE.getCode());
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agv_11_up.setCompleteType(AgvCompleteType.ENTIRE_PATH_COMPLETE);
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agv_11_up.setQrCode(qrCode);
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AgvProtocol agvProtocol = AgvProtocol.build(this.agv.getUuid()).setMessageBody(agv_11_up);
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redis.push(RedisConstant.AGV_COMPLETE_FLAG, agvProtocol);
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}
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}
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