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luxiaotao1123

2025-01-08 36dcec12994c82fffe2a86a6acf12ecbd071fffb

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

@@ -5,73 +5,108 @@
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.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;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvModelService;
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.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.stream.Collectors;

/**
 * Created by vincent on 10/14/2024
 */
@Slf4j
@Component
public class MapDataWsScheduler {

    public static final int WEBSOCKET_BROADCAST_INTERVAL = 600;

    private ExecutorService singleThreadExecutor;

    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private CodeService codeService;
    @Autowired
    private MapService mapService;

    @Scheduled(cron = "0/1 * * * * ? ")
    public void broadcast() {
        MapWsVo mapWsVo = new MapWsVo();
        mapWsVo.setAgvVos(syncAgv());
        MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
    @PostConstruct
    public void init() {
        this.singleThreadExecutor = Executors.newSingleThreadExecutor();
        this.singleThreadExecutor.execute(() -> {
            try { Thread.sleep(200); } catch (InterruptedException ignore) {}
            while (!Thread.currentThread().isInterrupted()) {
                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);
                }
            }
        });
    }

    private List<MapWsAgvVo> syncAgv() {
        List<MapWsAgvVo> agvVos = new ArrayList<>();

        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>()
//                .eq(Agv::getStatus, 1)
        );

        Map<String, List<String>> codeDataListMap = mapService.queryCodeListFromDynamicNode(null
                , agvList.stream().map(Agv::getUuid).collect(Collectors.toSet()));

        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            if (null == agvDetail) { continue; }
            Long recentCode = agvDetail.getRecentCode();
            if (null == recentCode) { continue; }
            Code code = codeService.getById(recentCode);
            if (null == code) { continue; }

            MapWsAgvVo vo = new MapWsAgvVo();
            vo.setAgvModel(agvModel.getType());
            vo.setAgvNo(agv.getUuid());
            vo.setCode(code.getData());
            vo.setDirection(agvDetail.getAgvAngle());
            vo.setBackpack(GsonUtils.fromJson(agvDetail.getBackpack(), List.class));
            vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
            vo.setBattery(agvDetail.getSoc());
            vo.setError(agvDetail.realError());

            vo.setDynamicRoute(codeDataListMap.get(agv.getUuid()));

            agvVos.add(vo);
        }

        return agvVos;
    }

    public static void main(String[] args) {
        List<BackpackDto> backpackDtoList = new ArrayList<>();
        backpackDtoList.add(new BackpackDto(1, true));
        backpackDtoList.add(new BackpackDto(2, true));
        backpackDtoList.add(new BackpackDto(3, false));
        backpackDtoList.add(new BackpackDto(4, false));
        backpackDtoList.add(new BackpackDto(5, false));
        backpackDtoList.add(new BackpackDto(6, false));
        backpackDtoList.add(new BackpackDto(7, false));
        System.out.println(GsonUtils.toJson(backpackDtoList));
    @PreDestroy
    public void destroy() {
        this.singleThreadExecutor.shutdownNow();
    }

}