#

vincentlu

2026-04-07 7020a74ae60374f202e804bb972ee977dacb66f8

#

 zy-acs-manager/src/main/java/com/zy/acs/manager/fake/AgvSimulatorTask.java

@@ -1,10 +1,19 @@
package com.zy.acs.manager.fake;

import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.domain.protocol.AGV_11_UP;
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.hk.state.HkState;
import com.zy.acs.common.hk.state.HkStateActionState;
import com.zy.acs.common.hk.state.HkStateAgvPosition;
import com.zy.acs.common.hk.state.HkStateBatteryState;
import com.zy.acs.common.hk.state.HkStateVelocity;
import com.zy.acs.common.hk.state.type.HkActionStatusType;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.common.config.HikOrderProperties;
import com.zy.acs.manager.core.constant.HikAngleConstant;
import com.zy.acs.manager.core.domain.CodeStepDto;
import com.zy.acs.manager.core.domain.type.JobType;
import com.zy.acs.manager.core.scheduler.MapDataWsScheduler;
@@ -12,13 +21,20 @@
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.manager.entity.Action;
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.enums.ActionStsType;
import com.zy.acs.manager.manager.enums.ActionTypeType;
import com.zy.acs.manager.manager.service.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.util.StringUtils;

import java.time.Instant;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Locale;
import java.util.Objects;

/**
@@ -36,6 +52,7 @@
    private final JamService jamService;
    private final MainService mainService;
    private final List<Action> actionList;
    private final HikOrderProperties hikOrderProperties;

    private final RedisSupport redis;

@@ -51,6 +68,7 @@
            , MapService mapService
            , JamService jamService
            , MainService mainService
            , HikOrderProperties hikOrderProperties
            , List<Action> actionList
    ) {
        this.agv = agv;
@@ -62,6 +80,7 @@
        this.mapService = mapService;
        this.jamService = jamService;
        this.mainService = mainService;
        this.hikOrderProperties = hikOrderProperties;
        this.actionList = actionList;

        this.groupId = actionList.get(0).getGroupId();
@@ -191,6 +210,11 @@
        }

        // 2.complete data
        if (isHikAgv()) {
            finishHikActionList();
            return;
        }

        AGV_11_UP agv_11_up = new AGV_11_UP();
        agv_11_up.setSerialNo(groupId);
        agv_11_up.setCompleteCode(AgvCompleteType.ENTIRE_PATH_COMPLETE.getCode());
@@ -201,4 +225,84 @@
        mainService.upDataSubscribe(agvProtocol);
//        redis.push(RedisConstant.AGV_COMPLETE_FLAG, agvProtocol);
    }

    private void finishHikActionList() {
        HkState state = new HkState();
        state.setTimestamp(Instant.now().toString());
        state.setSerialNumber(agv.getUuid());
        state.setManufacturer(hikOrderProperties.getManufacturer());
        state.setVersion(hikOrderProperties.getMajorVersion());
        state.setOrderId(groupId);
        state.setOrderUpdateId(0L);
        state.setZoneSetId(hikOrderProperties.getZoneSetId());
        state.setDriving(Boolean.FALSE);
        state.setPaused(Boolean.FALSE);
        state.setNodeStates(Collections.emptyList());
        state.setEdgeStates(Collections.emptyList());
        state.setActionStates(buildFinishedActionStates());
        state.setLastNodeSequenceId(actionList.size() * 2L);

        Code code = codeService.getCacheByData(actionList.get(actionList.size() - 1).getCode());
        if (code != null) {
            state.setLastNodeId(code.getData());
            state.setAgvPosition(buildAgvPosition(code));
        }

        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        state.setVelocity(new HkStateVelocity());
        state.setBatteryState(buildBatteryState(agvDetail));

        redis.push(RedisConstant.HK_AGV_DATA_FLAG, state);
    }

    private List<HkStateActionState> buildFinishedActionStates() {
        List<HkStateActionState> actionStates = new ArrayList<>();
        for (Action action : actionList) {
            HkStateActionState actionState = new HkStateActionState();
            actionState.setActionId("A" + action.getId());
            actionState.setActionStatus(HkActionStatusType.FINISHED);
            ActionTypeType actionType = ActionTypeType.get(action.getActionTypeEl());
            actionState.setActionType(actionType == null ? String.valueOf(action.getActionType()) : actionType.name());
            actionStates.add(actionState);
        }
        return actionStates;
    }

    private HkStateAgvPosition buildAgvPosition(Code code) {
        HkStateAgvPosition position = new HkStateAgvPosition();
        position.setPositionInitialized(Boolean.TRUE);
        position.setLocalizationScore(1.0);
        position.setX(code.getX() * hikOrderProperties.getCoordinateScale());
        position.setY(code.getY() * hikOrderProperties.getCoordinateScale());
        position.setMapId(hikOrderProperties.getMapId());

        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        if (agvDetail != null && agvDetail.getAgvAngle() != null) {
            position.setTheta(HikAngleConstant.toHikAngleRadians(Math.toRadians(agvDetail.getAgvAngle())));
        }
        return position;
    }

    private HkStateBatteryState buildBatteryState(AgvDetail agvDetail) {
        HkStateBatteryState batteryState = new HkStateBatteryState();
        if (agvDetail == null) {
            return batteryState;
        }
        if (agvDetail.getSoc() != null) {
            batteryState.setBatteryCharge(agvDetail.getSoc().doubleValue());
        }
        if (agvDetail.getVol() != null) {
            batteryState.setBatteryVoltage(agvDetail.getVol().doubleValue());
        }
        return batteryState;
    }

    private boolean isHikAgv() {
        AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
        if (agvModel == null) {
            return false;
        }
        String protocol = agvModel.getProtocol();
        return StringUtils.hasText(protocol) && protocol.toLowerCase(Locale.ROOT).contains("hik");
    }
}

 zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java

@@ -5,10 +5,13 @@
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.domain.protocol.AGV_01_DOWN;
import com.zy.acs.common.domain.protocol.AGV_01_UP;
import com.zy.acs.common.hk.order.HkOrderDown;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.config.HikOrderProperties;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.core.service.hik.HikOrderPublishService;
import com.zy.acs.manager.manager.entity.Action;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.enums.ActionStsType;
@@ -68,6 +71,10 @@
    private JamService jamService;
    @Autowired
    private MainService mainService;
    @Autowired
    private HikOrderPublishService hikOrderPublishService;
    @Autowired
    private HikOrderProperties hikOrderProperties;

    @PostConstruct
    public void init() {
@@ -141,6 +148,7 @@
                                            , mapService
                                            , jamService
                                            , mainService
                                            , hikOrderProperties
                                            , actionList
                                    ));
                                } else {
@@ -164,7 +172,11 @@

    private void processOnline() {
        for (Agv agv : this.getAgvList()) {
            redis.setObject(RedisConstant.AGV_ONLINE_FLAG, agv.getUuid(), 1, 30);
            if (hikOrderPublishService.support(agvModelService.getByAgvId(agv.getId()))) {
                redis.setObject(RedisConstant.HK_AGV_ONLINE_FLAG, agv.getUuid(), 1, 30);
            } else {
                redis.setObject(RedisConstant.AGV_ONLINE_FLAG, agv.getUuid(), 1, 30);
            }
        }
    }

@@ -180,6 +192,12 @@
                    , protocol.getAgvNo() + "_" + agv_01_up.getSerialNo()
                    , agv_01_up);
        }

        HkOrderDown hkOrderDown = redis.pop(RedisConstant.HK_AGV_PATH_DOWN_FLAG);
        if (hkOrderDown != null) {
            log.info("fake receive hik order, agvNo={}, actionGroupId={}",
                    hkOrderDown.getAgvNo(), hkOrderDown.getActionGroupId());
        }
    }

    public List<Agv> getAgvList() {