1

zhang

2025-09-05 1864f916e0359d0814416cf94feda3a3662ed193

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java

@@ -2,17 +2,14 @@

import com.alibaba.fastjson.JSON;
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.domain.protocol.*;
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.common.enums.error.AgvErrorType;
import com.zy.acs.common.domain.protocol.AGV_12_UP;
import com.zy.acs.common.domain.protocol.IMessageBody;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.DateUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.core.domain.VehicleFaultDto;
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.*;
@@ -64,15 +61,15 @@
        IMessageBody msgBody = protocol.getMessageBody();
        assert msgBody != null;

        Agv agv = agvService.selectByUuid(protocol.getAgvNo());
        if (null == agv) {
        Long agvId = agvService.getAgvId(protocol.getAgvNo());
        if (null == agvId) {
            log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
            return;
        }
        AgvDetail detail = agvDetailService.selectByAgvId(agv.getId());
        AgvDetail detail = agvDetailService.selectByAgvId(agvId);
        if (null == detail) {
            detail = new AgvDetail();
            detail.setAgvId(agv.getId());
            detail.setAgvId(agvId);
            if (!agvDetailService.save(detail)) {
                log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
                return;
@@ -85,11 +82,12 @@
            AGV_12_UP agv_12_up = (AGV_12_UP) msgBody;

            // unlock path
            threadPoolRegulator.getInstance().execute(() -> {
                mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode());
            });
            mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode());
//            threadPoolRegulator.getInstance().execute(() -> {
//
//            });
            // finish jam
            threadPoolRegulator.getInstance().execute(() -> jamService.checkIfFinish(agv.getId(), agv_12_up.getQrCode()));
            threadPoolRegulator.getInstance().execute(() -> jamService.checkIfFinish(agvId, agv_12_up.getQrCode()));

//            websocketService.agvInfoBroadcastOnPos(new WebsocketDto<AGV_12_UP>("agv", agv.getUuid(), agv_12_up));
            this.sync(agv_12_up, detail);
@@ -98,52 +96,15 @@
                log.info("Agv [{}] 有码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_12_up));
            }
        }
        // 无码实时数据包
        if (msgBody instanceof AGV_13_UP) {
            AGV_13_UP agv_13_up = (AGV_13_UP) msgBody;
//            websocketService.agvInfoBroadcastWithOutPos(new WebsocketDto<AGV_13_UP>("agv", agv.getUuid(), agv_13_up));
            this.sync(agv_13_up, detail);
//            redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_13_up);
            if (PRINT_LOG) {
                log.info("Agv [{}] 无码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_13_up));
            }
        }
        // 心跳包
        if (msgBody instanceof AGV_03_UP) {
            AGV_03_UP agv_03_up = (AGV_03_UP) msgBody;
            this.sync(agv_03_up, detail);
            if (PRINT_LOG) {
                log.info("Agv [{}] 心跳包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_03_up));
            }
        }
        // 登陆包
        if (msgBody instanceof AGV_F0_UP) {
            AGV_F0_UP agv_f0_up = (AGV_F0_UP) msgBody;
            this.sync(agv_f0_up, detail);
            log.info("Agv [{}] 登陆包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_f0_up));
        }
        // 故障数据包
        if (msgBody instanceof AGV_04_UP) {
            AGV_04_UP agv_04_up = (AGV_04_UP) msgBody;
            AgvErrorType errorType = AgvErrorType.query(agv_04_up.getHexFaultId());
            log.info("Agv [{}] 故障数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_04_up));

            // save
            faultProcessor.execute(new VehicleFaultDto<>(protocol.getAgvNo(), protocol.getTimestamp(), agv_04_up));

            // detail
            String errorMSg = errorType != null ? errorType.getMsg() : agv_04_up.getHexFaultId();
            detail.setError(errorMSg);
            detail.setErrorTime(new Date());
        }

        // 故障复位
        if (!Cools.isEmpty(detail.realError())) {
            assert detail.getErrorTime() != null;
            if (DateUtils.diffToSeconds(detail.getErrorTime(), new Date()) > 20) {
                detail.setError(MapDataConstant.EMPTY_OF_ERROR);
                faultProcessor.reset(agvId);
            }
        }

        if (!agvDetailService.updateById(detail)) {
            log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
        }
@@ -154,7 +115,7 @@
    private void sync(AGV_12_UP mesBody, AgvDetail detail) {
        detail.setStatus(mesBody.getStatus());

        Code code = codeService.selectByData(mesBody.getQrCode());
        Code code = codeService.getCacheByData(mesBody.getQrCode());
        if (null != code) {
            detail.setCode(code.getId());
            detail.setLastCode(null);
@@ -198,87 +159,5 @@

    }

    // 无码实时数据包
    private void sync(AGV_13_UP mesBody, AgvDetail detail) {
        detail.setStatus(mesBody.getStatus());

        Code code = codeService.selectByData(mesBody.getQrCode());
        if (null != code) {

            if (!detail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                detail.setCode(null);
                detail.setLastCode(code.getId());
                detail.setPos(0);
            } else {
                detail.setCode(code.getId());
                detail.setLastCode(null);
                detail.setPos(1);
            }


        } else {
            log.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
        }

        detail.setStraightVal((double) mesBody.getStraightDirectionPosition());

        detail.setAgvAngle((double) mesBody.getAGVCurrentAngle());

        detail.setGyroAngle((double) mesBody.getGyroAngle());

        detail.setEncoderAngle((double) mesBody.getEncoderAngle());

        detail.setHigh(mesBody.getCurrentAltitude());

        detail.setSensorSts((long) mesBody.getSensorStatusFlags());

        List<BackpackDto> backpackDtoList = new ArrayList<>();
        backpackDtoList.add(new BackpackDto(1, mesBody.isTempLoc1()));
        backpackDtoList.add(new BackpackDto(2, mesBody.isTempLoc2()));
        backpackDtoList.add(new BackpackDto(3, mesBody.isTempLoc3()));
        backpackDtoList.add(new BackpackDto(4, mesBody.isTempLoc4()));
        backpackDtoList.add(new BackpackDto(5, mesBody.isTempLoc5()));
        backpackDtoList.add(new BackpackDto(6, mesBody.isTempLoc6()));
        backpackDtoList.add(new BackpackDto(7, mesBody.isTempLoc7()));
        detail.setBackpack(GsonUtils.toJson(backpackDtoList));

    }

    // 心跳包
    private void sync(AGV_03_UP mesBody, AgvDetail detail) {

        detail.setVol(mesBody.getVoltage());
        detail.setSoc(mesBody.getSoc());
        detail.setSoh(mesBody.getSoh());
        detail.setBatteryFail(mesBody.getBatterFailSign());

        detail.setTempe(JSON.toJSONString(Cools
                .add("batteryTempe", mesBody.getBatteryTempe())
                .add("envirTempe", mesBody.getEnvirTempe())
                .add("leftMotorTempe", mesBody.getLeftMotorTempe())
                .add("rightMotorTempe", mesBody.getRightMotorTempe())
                .add("raiseMotorTempe", mesBody.getRaiseMotorTempe())
                .add("telescopicMotorTempe", mesBody.getTelescopicMotorTempe())
                .add("rotatingMotorTempe", mesBody.getRotatingMotorTempe())
        ));

        detail.setMotorFail(JSON.toJSONString(Cools
                .add("leftMotorFailSign", mesBody.getLeftMotorFailSign())
                .add("rightMotorFailSign", mesBody.getRightMotorFailSign())
                .add("raiseMotorFailSign", mesBody.getRaiseMotorFailSign())
                .add("telescopicMotorFailSign", mesBody.getTelescopicMotorFailSign())
                .add("rotatingMotorFailSign", mesBody.getRotatingMotorFailSign())
        ));

        detail.setFailSign(String.valueOf(mesBody.getFailSign()));

        detail.setBootTime(mesBody.getBootTime());

    }

    // 登陆包
    private void sync(AGV_F0_UP mesBody, AgvDetail detail) {

    }

}