#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -1,11 +1,16 @@
package com.zy.acs.manager.core.scheduler;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.core.domain.BackpackDto;
import com.zy.acs.manager.core.domain.CodeStepDto;
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.domain.type.JobType;
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;
@@ -23,17 +28,16 @@
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 = 200;
    public static final int WEBSOCKET_BROADCAST_INTERVAL = 300;

    private ExecutorService singleThreadExecutor;

@@ -46,7 +50,7 @@
    @Autowired
    private CodeService codeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    private MapService mapService;

    @PostConstruct
    public void init() {
@@ -58,7 +62,7 @@
                    MapWsVo mapWsVo = new MapWsVo();
                    mapWsVo.setAgvVos(syncAgv());
                    MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
                    Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL);
                    Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL / 3);
                } catch (Exception e) {
                    log.error("MapDataWsScheduler.init", e);
                }
@@ -72,25 +76,36 @@
        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) {
            AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
            if (null == agvDetail) { continue; }
            Long recentCode = agvDetail.getRecentCode();
            if (null == recentCode) { continue; }
            Code code = codeService.getById(recentCode);
            Code code = codeService.getCacheById(recentCode);
            if (null == code) { continue; }

            JobType jobType = this.getJobType(agv.getId(), code.getData());

            MapWsAgvVo vo = new MapWsAgvVo();
            vo.setAgvModel(agvModel.getType());
            vo.setAgvNo(agv.getUuid());
            vo.setCode(code.getData());
            vo.setDirection(agvDetail.getAgvAngle());
            vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
            vo.setBackpack(this.getBackpack(agv.getId(), agvDetail.getBackpack()));
            if (null != jobType && null != jobType.increase) {
                vo.setBackpack(vo.getBackpack() + (jobType.increase ? 1 : -1));
            }
            vo.setSlots(agvModel.getBackpack());
            vo.setBattery(agvDetail.getSoc());
            vo.setError(agvDetail.getError());
            vo.setJobType(null == jobType ? null : jobType.breif);
            vo.setError(agvDetail.realError());

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

            agvVos.add(vo);
        }
@@ -98,9 +113,37 @@
        return agvVos;
    }

    private JobType getJobType(Long agvId, String currCodeData) {
        if (null == agvId || Cools.isEmpty(currCodeData)) {
            return null;
        }
        CodeStepDto codeStepDto = CoreCache.AGV_MOCK_STEP_CACHE.get(agvId);
        if (null == codeStepDto) {
            return null;
        }
        if (!codeStepDto.getCodeData().equals(currCodeData)) {
            return null;
        }
        return codeStepDto.getJobType();
    }

    @PreDestroy
    public void destroy() {
        this.singleThreadExecutor.shutdownNow();
    }

    private Integer getBackpack(Long agvId, String backpackJson) {
        if (null == agvId || Cools.isEmpty(backpackJson)) {
            return 0;
        }
        List<BackpackDto> backpackDtoList = JSON.parseArray(backpackJson, BackpackDto.class);
        int jsonCount = (int) backpackDtoList.stream().filter(BackpackDto::getLoaded).count();

        Integer cacheCount = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
        if (null == cacheCount) {
            return jsonCount;
        }
        return Math.max(jsonCount, cacheCount);
    }

}