#

luxiaotao1123

2024-04-12 5c0622d48c825ca4b75f63dda78d51ed75bc7a2f

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package com.zy.asrs.wcs.core.map.websocket;
 
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.map.entity.MapWsShuttleVo;
import com.zy.asrs.wcs.core.map.entity.MapWsVo;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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;
import java.util.function.Consumer;
import java.util.stream.Collectors;
 
/**
 * Created by vincent on 4/11/2024
 */
@Component
public class MapRealTimeDataScheduler {
 
    @Autowired
    private DeviceTypeService deviceTypeService;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private BasShuttleService basShuttleService;
 
    @Scheduled(cron = "0/1 * * * * ? ")
    public void sync() {
        MapWsVo wsVo = new MapWsVo();
        // shuttle
        wsVo.setShuttleVos(syncShuttle());
        MapWebSocket.broadcast(JSON.toJSONString(wsVo));
    }
 
    private List<MapWsShuttleVo> syncShuttle() {
        List<MapWsShuttleVo> shuttleVos = new ArrayList<>();
 
        List<Device> deviceList = deviceService.list(new LambdaQueryWrapper<Device>().eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val()));
        for (Device device : deviceList) {
            MapWsShuttleVo shuttleVo = new MapWsShuttleVo();
            shuttleVos.add(shuttleVo);
 
            shuttleVo.setShuttleNo(device.getDeviceNo());
 
            Consumer<Device> consumer = new Consumer<Device>() {
                @Override
                public void accept(Device device) {
                    BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, device.getId()));
                    if (null != basShuttle && !Cools.isEmpty(basShuttle.getProtocol())) {
                        ShuttleProtocol protocol = JSON.parseObject(basShuttle.getProtocol(), ShuttleProtocol.class);
                        shuttleVo.setCurLocNo(protocol.getCurrentLocNo());
 
                    }
                }
            };
 
            ShuttleThread thread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            if (null == thread) {
                consumer.accept(device);
                continue;
            }
            ShuttleProtocol protocol = thread.getStatus();
            if (null == protocol) {
                consumer.accept(device);
                continue;
            }
 
            shuttleVo.setCurLocNo(protocol.getCurrentLocNo());
 
            List<NavigateNode> moveAdvancePath = thread.getMoveAdvancePath();
            if (!Cools.isEmpty(moveAdvancePath)) {
                shuttleVo.setTravelPath(moveAdvancePath.stream()
                        .map(path -> Utils.getLocNo(path.getX(), path.getY(), path.getZ()))
                        .collect(Collectors.toList()));
            }
        }
 
        return shuttleVos;
    }
 
}