package com.zy.asrs.wcs.core.map.websocket;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.framework.common.Cools;
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import com.zy.asrs.wcs.core.domain.dto.MapLockPathDto;
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import com.zy.asrs.wcs.core.entity.BasConveyorSta;
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import com.zy.asrs.wcs.core.entity.BasShuttle;
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import com.zy.asrs.wcs.core.map.entity.MapWsShuttleVo;
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import com.zy.asrs.wcs.core.map.entity.MapWsVo;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
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import com.zy.asrs.wcs.core.service.BasConveyorStaService;
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import com.zy.asrs.wcs.core.service.BasShuttleService;
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import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
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import com.zy.asrs.wcs.core.utils.Utils;
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import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
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import com.zy.asrs.wcs.rcs.service.DeviceService;
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import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
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import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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import com.zy.asrs.wcs.system.entity.Dict;
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import com.zy.asrs.wcs.system.service.DictService;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.scheduling.annotation.Scheduled;
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import org.springframework.stereotype.Component;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.function.Consumer;
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import java.util.stream.Collectors;
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/**
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* Created by vincent on 4/11/2024
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*/
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@Component
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public class MapRealTimeDataScheduler {
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@Autowired
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private DeviceTypeService deviceTypeService;
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@Autowired
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private DeviceService deviceService;
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@Autowired
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private BasShuttleService basShuttleService;
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@Autowired
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private DictService dictService;
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@Autowired
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private NavigateMapUtils navigateMapUtils;
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@Autowired
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private BasConveyorStaService basConveyorStaService;
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@Scheduled(cron = "0/1 * * * * ? ")
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public void sync() {
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MapWsVo wsVo = new MapWsVo();
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// shuttle
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wsVo.setShuttleVos(syncShuttle());
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wsVo.setLockPath(getMapLocPath());
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wsVo.setConveyorSta(getMapConveyorSta());
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MapWebSocket.broadcast(JSON.toJSONString(wsVo));
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}
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private List<MapWsShuttleVo> syncShuttle() {
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List<MapWsShuttleVo> shuttleVos = new ArrayList<>();
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List<Device> deviceList = deviceService.list(new LambdaQueryWrapper<Device>().eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val()));
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for (Device device : deviceList) {
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MapWsShuttleVo shuttleVo = new MapWsShuttleVo();
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shuttleVos.add(shuttleVo);
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shuttleVo.setShuttleNo(device.getDeviceNo());
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Consumer<Device> consumer = new Consumer<Device>() {
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@Override
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public void accept(Device device) {
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BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, device.getId()));
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if (null != basShuttle && !Cools.isEmpty(basShuttle.getProtocol())) {
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ShuttleProtocol protocol = JSON.parseObject(basShuttle.getProtocol(), ShuttleProtocol.class);
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shuttleVo.setCurLocNo(protocol.getCurrentLocNo());
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}
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}
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};
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ShuttleThread thread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (null == thread) {
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consumer.accept(device);
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continue;
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}
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ShuttleProtocol protocol = thread.getStatus();
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if (null == protocol) {
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consumer.accept(device);
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continue;
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}
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shuttleVo.setCurLocNo(protocol.getCurrentLocNo());
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List<NavigateNode> moveAdvancePath = thread.getMoveAdvancePath();
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if (!Cools.isEmpty(moveAdvancePath)) {
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shuttleVo.setTravelPath(moveAdvancePath.stream()
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.map(path -> Utils.getLocNo(path.getX(), path.getY(), path.getZ()))
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.collect(Collectors.toList()));
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}
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}
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return shuttleVos;
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}
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private List<MapLockPathDto> getMapLocPath() {
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List<MapLockPathDto> list = new ArrayList<>();
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Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
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.eq(Dict::getFlag, "floor-list")
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.eq(Dict::getStatus, 1));
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if (dict != null) {
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for (Object o : JSON.parseArray(dict.getValue())) {
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JSONObject jsonObject = JSON.parseObject(o.toString());
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Integer lev = jsonObject.getInteger("value");
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List<NavigateNode> path = navigateMapUtils.getLockPath(lev);
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MapLockPathDto lockPathDto = new MapLockPathDto();
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lockPathDto.setPath(path);
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lockPathDto.setLev(lev);
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list.add(lockPathDto);
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}
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}
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return list;
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}
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private List<BasConveyorSta> getMapConveyorSta() {
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return basConveyorStaService.list();
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}
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}
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