#

luxiaotao1123

2024-04-12 5c0622d48c825ca4b75f63dda78d51ed75bc7a2f

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/map/websocket/MapRealTimeDataScheduler.java

@@ -2,10 +2,14 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.map.entity.MapWsShuttleVo;
import com.zy.asrs.wcs.core.map.entity.MapWsVo;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -19,6 +23,8 @@

import java.util.ArrayList;
import java.util.List;
import java.util.function.Consumer;
import java.util.stream.Collectors;

/**
 * Created by vincent on 4/11/2024
@@ -46,21 +52,42 @@

        List<Device> deviceList = deviceService.list(new LambdaQueryWrapper<Device>().eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val()));
        for (Device device : deviceList) {
//            basShuttleService.
            MapWsShuttleVo shuttleVo = new MapWsShuttleVo();
            shuttleVos.add(shuttleVo);

            shuttleVo.setShuttleNo(device.getDeviceNo());

            Consumer<Device> consumer = new Consumer<Device>() {
                @Override
                public void accept(Device device) {
                    BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, device.getId()));
                    if (null != basShuttle && !Cools.isEmpty(basShuttle.getProtocol())) {
                        ShuttleProtocol protocol = JSON.parseObject(basShuttle.getProtocol(), ShuttleProtocol.class);
                        shuttleVo.setCurLocNo(protocol.getCurrentLocNo());

                    }
                }
            };

            ShuttleThread thread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            if (null == thread) {
                consumer.accept(device);
                continue;
            }
            ShuttleProtocol protocol = thread.getStatus();
            if (null == protocol) {
                consumer.accept(device);
                continue;
            }

            MapWsShuttleVo shuttleVo = new MapWsShuttleVo();
//            shuttleVo.setShuttleNo();
            shuttleVo.setCurLocNo(protocol.getCurrentLocNo());


            shuttleVos.add(shuttleVo);
            List<NavigateNode> moveAdvancePath = thread.getMoveAdvancePath();
            if (!Cools.isEmpty(moveAdvancePath)) {
                shuttleVo.setTravelPath(moveAdvancePath.stream()
                        .map(path -> Utils.getLocNo(path.getX(), path.getY(), path.getZ()))
                        .collect(Collectors.toList()));
            }
        }

        return shuttleVos;