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luxiaotao1123

2024-10-21 de6a34c248036d65a3d6797c83e051acdeb78bf7

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package com.zy.acs.manager.core.scheduler;
 
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.core.domain.MapWsAgvVo;
import com.zy.acs.manager.core.domain.MapWsVo;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.service.AgvDetailService;
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 org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
 
import java.util.ArrayList;
import java.util.List;
 
/**
 * Created by vincent on 10/14/2024
 */
@Component
public class MapDataWsScheduler {
 
    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private CodeService codeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
 
    @Scheduled(cron = "0/1 * * * * ? ")
    public void broadcast() {
        MapWsVo mapWsVo = new MapWsVo();
        mapWsVo.setAgvVos(syncAgv());
        MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
    }
 
    private List<MapWsAgvVo> syncAgv() {
        List<MapWsAgvVo> agvVos = new ArrayList<>();
 
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>()
//                .eq(Agv::getStatus, 1)
        );
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail) { continue; }
            Long recentCode = agvDetail.getRecentCode();
            if (null == recentCode) { continue; }
            Code code = codeService.getById(recentCode);
 
            MapWsAgvVo vo = new MapWsAgvVo();
            vo.setAgvNo(agv.getUuid());
            vo.setCode(code.getData());
            vo.setDirection(agvDetail.getAgvAngle());
            vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
            vo.setBattery(agvDetail.getSoc());
 
            vo.setDynamicRoute(mapDataDispatcher.queryCodeListFromDynamicNode(null, agv.getUuid()));
 
            agvVos.add(vo);
        }
 
        return agvVos;
    }
 
}