package com.zy.acs.manager.core.scheduler;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.common.utils.GsonUtils;
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import com.zy.acs.manager.core.domain.BackpackDto;
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import com.zy.acs.manager.core.domain.MapWsAgvVo;
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import com.zy.acs.manager.core.domain.MapWsVo;
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import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
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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.AgvModel;
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import com.zy.acs.manager.manager.entity.Code;
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import com.zy.acs.manager.manager.service.AgvDetailService;
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import com.zy.acs.manager.manager.service.AgvModelService;
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import com.zy.acs.manager.manager.service.AgvService;
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import com.zy.acs.manager.manager.service.CodeService;
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import com.zy.acs.manager.manager.websocket.MapWebSocket;
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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.stereotype.Component;
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import javax.annotation.PostConstruct;
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import javax.annotation.PreDestroy;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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/**
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* Created by vincent on 10/14/2024
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*/
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@Slf4j
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@Component
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public class MapDataWsScheduler {
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public static final int WEBSOCKET_BROADCAST_INTERVAL = 600;
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private ExecutorService singleThreadExecutor;
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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 AgvModelService agvModelService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private MapDataDispatcher mapDataDispatcher;
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@PostConstruct
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public void init() {
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this.singleThreadExecutor = Executors.newSingleThreadExecutor();
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this.singleThreadExecutor.execute(() -> {
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try { Thread.sleep(200); } catch (InterruptedException ignore) {}
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while (!Thread.currentThread().isInterrupted()) {
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try {
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MapWsVo mapWsVo = new MapWsVo();
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mapWsVo.setAgvVos(syncAgv());
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MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
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Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL / 3);
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} catch (Exception e) {
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log.error("MapDataWsScheduler.init", e);
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}
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}
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});
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}
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private List<MapWsAgvVo> syncAgv() {
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List<MapWsAgvVo> agvVos = new ArrayList<>();
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>()
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// .eq(Agv::getStatus, 1)
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);
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for (Agv agv : agvList) {
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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if (null == agvDetail) { continue; }
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Long recentCode = agvDetail.getRecentCode();
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if (null == recentCode) { continue; }
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Code code = codeService.getById(recentCode);
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if (null == code) { continue; }
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MapWsAgvVo vo = new MapWsAgvVo();
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vo.setAgvModel(agvModel.getType());
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vo.setAgvNo(agv.getUuid());
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vo.setCode(code.getData());
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vo.setDirection(agvDetail.getAgvAngle());
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vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
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vo.setBattery(agvDetail.getSoc());
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vo.setError(agvDetail.realError());
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vo.setDynamicRoute(mapDataDispatcher.queryCodeListFromDynamicNode(null, agv.getUuid()));
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agvVos.add(vo);
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}
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return agvVos;
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}
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@PreDestroy
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public void destroy() {
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this.singleThreadExecutor.shutdownNow();
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}
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}
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