#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -3,11 +3,15 @@
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.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.manager.entity.Agv;
import com.zy.acs.manager.core.domain.VehicleFaultDto;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.service.*;
@@ -59,15 +63,15 @@
        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;
@@ -80,11 +84,12 @@
            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);
@@ -120,10 +125,25 @@
        // 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));
//            faultProcessor.execute(new VehicleFaultDto());

            // 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);
            }
        }
        if (!agvDetailService.updateById(detail)) {
            log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
        }
@@ -132,7 +152,9 @@

    // 有码实时数据包
    private void sync(AGV_12_UP mesBody, AgvDetail detail) {
        Code code = codeService.selectByData(mesBody.getQrCode());
        detail.setStatus(mesBody.getStatus());

        Code code = codeService.getCacheByData(mesBody.getQrCode());
        if (null != code) {
            detail.setCode(code.getId());
            detail.setLastCode(null);
@@ -143,8 +165,6 @@
        } else {
            log.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
        }

        detail.setStatus(mesBody.getStatus());

        // 地面码偏移
        detail.setCodeOffsert(JSON.toJSONString(Cools
@@ -180,14 +200,22 @@

    // 无码实时数据包
    private void sync(AGV_13_UP mesBody, AgvDetail detail) {
        Code code = codeService.selectByData(mesBody.getQrCode());
        detail.setStatus(mesBody.getStatus());

        Code code = codeService.getCacheByData(mesBody.getQrCode());
        if (null != code) {
            detail.setCode(null);
            detail.setLastCode(code.getId());
            detail.setPos(0);
//            if (!agvDetailService.updateUnPosCode(detail.getId(), code.getId())) {
//                log.error("Agv [{}] 更新定位数据失败 ！！！", agvService.getById(detail.getAgvId()).getUuid());
//            }

            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());
        }