#

vincentlu

2025-01-13 89c7f6e5bcc21b0e8f83a2bc6d680e2ffe431e6f

 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;

@@ -22,14 +23,19 @@
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 = 300;

    private ExecutorService singleThreadExecutor;

@@ -42,7 +48,7 @@
    @Autowired
    private CodeService codeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    private MapService mapService;

    @PostConstruct
    public void init() {
@@ -50,11 +56,14 @@
        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(500); } 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);
                }
            }
        });
    }
@@ -65,9 +74,13 @@
        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.getById(agv.getAgvModel());
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            if (null == agvDetail) { continue; }
            Long recentCode = agvDetail.getRecentCode();
            if (null == recentCode) { continue; }
@@ -81,8 +94,9 @@
            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(codeDataListMap.get(agv.getUuid()));

            agvVos.add(vo);
        }