#

luxiaotao1123

2025-01-08 02b49844456ea3e650edcf03d8d6a5bad6ba9aed

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java

@@ -5,7 +5,7 @@
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.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;
@@ -15,6 +15,7 @@
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;

@@ -28,10 +29,11 @@
/**
 * Created by vincent on 10/14/2024
 */
@Slf4j
@Component
public class MapDataWsScheduler {

    public static final int WEBSOCKET_BROADCAST_INTERVAL = 500;
    public static final int WEBSOCKET_BROADCAST_INTERVAL = 600;

    private ExecutorService singleThreadExecutor;

@@ -44,7 +46,7 @@
    @Autowired
    private CodeService codeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    private MapService mapService;

    @PostConstruct
    public void init() {
@@ -52,11 +54,14 @@
        this.singleThreadExecutor.execute(() -> {
            try { Thread.sleep(200); } catch (InterruptedException ignore) {}
            while (!Thread.currentThread().isInterrupted()) {

                MapWsVo mapWsVo = new MapWsVo();
                mapWsVo.setAgvVos(syncAgv());
                MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
                try { Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL); } catch (InterruptedException ignore) {}
                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);
                }
            }
        });
    }
@@ -83,8 +88,9 @@
            vo.setDirection(agvDetail.getAgvAngle());
            vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
            vo.setBattery(agvDetail.getSoc());
            vo.setError(agvDetail.realError());

            vo.setDynamicRoute(mapDataDispatcher.queryCodeListFromDynamicNode(null, agv.getUuid()));
            vo.setDynamicRoute(mapService.queryCodeListFromDynamicNode(null, agv.getUuid()));

            agvVos.add(vo);
        }