package com.zy.acs.manager.core.scheduler;
|
|
import com.alibaba.fastjson.JSON;
|
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
|
import com.zy.acs.common.utils.GsonUtils;
|
import com.zy.acs.framework.common.Cools;
|
import com.zy.acs.manager.core.cache.CoreCache;
|
import com.zy.acs.manager.core.domain.BackpackDto;
|
import com.zy.acs.manager.core.domain.CodeStepDto;
|
import com.zy.acs.manager.core.domain.MapWsAgvVo;
|
import com.zy.acs.manager.core.domain.MapWsVo;
|
import com.zy.acs.manager.core.domain.type.JobType;
|
import com.zy.acs.manager.core.service.MapService;
|
import com.zy.acs.manager.manager.entity.Agv;
|
import com.zy.acs.manager.manager.entity.AgvDetail;
|
import com.zy.acs.manager.manager.entity.AgvModel;
|
import com.zy.acs.manager.manager.entity.Code;
|
import com.zy.acs.manager.manager.service.AgvDetailService;
|
import com.zy.acs.manager.manager.service.AgvModelService;
|
import com.zy.acs.manager.manager.service.AgvService;
|
import com.zy.acs.manager.manager.service.CodeService;
|
import com.zy.acs.manager.manager.websocket.MapWebSocket;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.stereotype.Component;
|
|
import javax.annotation.PostConstruct;
|
import javax.annotation.PreDestroy;
|
import java.util.ArrayList;
|
import java.util.List;
|
import java.util.Map;
|
import java.util.concurrent.ExecutorService;
|
import java.util.concurrent.Executors;
|
import java.util.stream.Collectors;
|
|
@Slf4j
|
@Component
|
public class MapDataWsScheduler {
|
|
public static final int WEBSOCKET_BROADCAST_INTERVAL = 60;
|
|
private ExecutorService singleThreadExecutor;
|
|
@Autowired
|
private AgvService agvService;
|
@Autowired
|
private AgvDetailService agvDetailService;
|
@Autowired
|
private AgvModelService agvModelService;
|
@Autowired
|
private CodeService codeService;
|
@Autowired
|
private MapService mapService;
|
|
@PostConstruct
|
public void init() {
|
this.singleThreadExecutor = Executors.newSingleThreadExecutor();
|
this.singleThreadExecutor.execute(() -> {
|
try { Thread.sleep(200); } catch (InterruptedException ignore) {}
|
while (!Thread.currentThread().isInterrupted()) {
|
try {
|
MapWsVo mapWsVo = new MapWsVo();
|
mapWsVo.setAgvVos(syncAgv());
|
MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
|
Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL / 3);
|
} catch (Exception e) {
|
log.error("MapDataWsScheduler.init", e);
|
}
|
}
|
});
|
}
|
|
private List<MapWsAgvVo> syncAgv() {
|
List<MapWsAgvVo> agvVos = new ArrayList<>();
|
|
List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>()
|
// .eq(Agv::getStatus, 1)
|
);
|
|
Map<String, List<String>> codeDataListMap = mapService.queryCodeListFromDynamicNode(null
|
, agvList.stream().map(Agv::getUuid).collect(Collectors.toSet()));
|
|
for (Agv agv : agvList) {
|
AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
|
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
|
if (null == agvDetail) { continue; }
|
Long recentCode = agvDetail.getRecentCode();
|
if (null == recentCode) { continue; }
|
Code code = codeService.getCacheById(recentCode);
|
if (null == code) { continue; }
|
|
JobType jobType = this.getJobType(agv.getId(), code.getData());
|
|
MapWsAgvVo vo = new MapWsAgvVo();
|
vo.setAgvModel(agvModel.getType());
|
vo.setAgvNo(agv.getUuid());
|
vo.setCode(code.getData());
|
vo.setDirection(agvDetail.getAgvAngle());
|
vo.setBackpack(this.getBackpack(agv.getId(), agvDetail.getBackpack()));
|
if (null != jobType && null != jobType.increase) {
|
vo.setBackpack(vo.getBackpack() + (jobType.increase ? 1 : -1));
|
}
|
vo.setSlots(agvModel.getBackpack());
|
vo.setBattery(agvDetail.getSoc());
|
vo.setJobType(null == jobType ? null : jobType.breif);
|
vo.setError(agvDetail.realError());
|
|
vo.setDynamicRoute(codeDataListMap.get(agv.getUuid()));
|
|
agvVos.add(vo);
|
}
|
|
return agvVos;
|
}
|
|
private JobType getJobType(Long agvId, String currCodeData) {
|
if (null == agvId || Cools.isEmpty(currCodeData)) {
|
return null;
|
}
|
CodeStepDto codeStepDto = CoreCache.AGV_MOCK_STEP_CACHE.get(agvId);
|
if (null == codeStepDto) {
|
return null;
|
}
|
if (!codeStepDto.getCodeData().equals(currCodeData)) {
|
return null;
|
}
|
return codeStepDto.getJobType();
|
}
|
|
@PreDestroy
|
public void destroy() {
|
this.singleThreadExecutor.shutdownNow();
|
}
|
|
private Integer getBackpack(Long agvId, String backpackJson) {
|
if (null == agvId || Cools.isEmpty(backpackJson)) {
|
return 0;
|
}
|
List<BackpackDto> backpackDtoList = JSON.parseArray(backpackJson, BackpackDto.class);
|
int jsonCount = (int) backpackDtoList.stream().filter(BackpackDto::getLoaded).count();
|
|
Integer cacheCount = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
|
if (null == cacheCount) {
|
return jsonCount;
|
}
|
return Math.max(jsonCount, cacheCount);
|
}
|
|
}
|
