From 2d2afe482ec78ba72e945e467fa32ed9527a75dc Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 03 七月 2025 10:33:39 +0800
Subject: [PATCH] 队列拆分
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataNoCodeService.java | 143 +++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 143 insertions(+), 0 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataNoCodeService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataNoCodeService.java
new file mode 100644
index 0000000..9323003
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataNoCodeService.java
@@ -0,0 +1,143 @@
+package com.zy.acs.manager.core.service;
+
+import com.alibaba.fastjson.JSON;
+import com.zy.acs.common.domain.AgvProtocol;
+import com.zy.acs.common.domain.protocol.AGV_13_UP;
+import com.zy.acs.common.domain.protocol.IMessageBody;
+import com.zy.acs.common.enums.AgvStatusType;
+import com.zy.acs.common.utils.GsonUtils;
+import com.zy.acs.common.utils.RedisSupport;
+import com.zy.acs.manager.core.domain.BackpackDto;
+import com.zy.acs.manager.manager.entity.AgvDetail;
+import com.zy.acs.manager.manager.entity.Code;
+import com.zy.acs.manager.manager.service.*;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Async;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * Created by vincent on 2023/6/16
+ */
+@Slf4j
+@Service
+public class AgvDataNoCodeService {
+
+ private final static Boolean PRINT_LOG = Boolean.FALSE;
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+
+ @Autowired
+ private AgvService agvService;
+ @Autowired
+ private AgvDetailService agvDetailService;
+ @Autowired
+ private CodeService codeService;
+ @Autowired
+ private WebsocketService websocketService;
+ @Autowired
+ private TrafficService trafficService;
+ @Autowired
+ private MapService mapService;
+ @Autowired
+ private ThreadPoolRegulator threadPoolRegulator;
+ @Autowired
+ private JamService jamService;
+ @Autowired
+ private AvoidWaveCalculator avoidWaveCalculator;
+ @Autowired
+ private FaultProcessor faultProcessor;
+
+ @Async
+ public void dataProcess(AgvProtocol protocol) {
+ Date now = new Date();
+
+ IMessageBody msgBody = protocol.getMessageBody();
+ assert msgBody != null;
+
+ Long agvId = agvService.getAgvId(protocol.getAgvNo());
+ if (null == agvId) {
+ log.warn("Agv [{}] 灏氭湭閴存潈 锛侊紒锛�", protocol.getAgvNo());
+ return;
+ }
+ AgvDetail detail = agvDetailService.selectByAgvId(agvId);
+ if (null == detail) {
+ detail = new AgvDetail();
+ detail.setAgvId(agvId);
+ if (!agvDetailService.save(detail)) {
+ log.error("Agv [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo());
+ return;
+ }
+ }
+ detail.setUpdateTime(now);
+
+
+ // 鏃犵爜瀹炴椂鏁版嵁鍖�
+ if (msgBody instanceof AGV_13_UP) {
+ AGV_13_UP agv_13_up = (AGV_13_UP) msgBody;
+// websocketService.agvInfoBroadcastWithOutPos(new WebsocketDto<AGV_13_UP>("agv", agv.getUuid(), agv_13_up));
+ this.sync(agv_13_up, detail);
+// redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_13_up);
+ if (PRINT_LOG) {
+ log.info("Agv [{}] 鏃犵爜瀹炴椂鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_13_up));
+ }
+ }
+
+ if (!agvDetailService.updateById(detail)) {
+ log.error("Agv [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo());
+ }
+
+ }
+
+
+ // 鏃犵爜瀹炴椂鏁版嵁鍖�
+ private void sync(AGV_13_UP mesBody, AgvDetail detail) {
+ detail.setStatus(mesBody.getStatus());
+
+ Code code = codeService.getCacheByData(mesBody.getQrCode());
+ if (null != code) {
+
+ 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 [{}] 鏇存柊瀹氫綅鏁版嵁澶辫触 锛侊紒锛佷笂浼犳潯鐮侊細{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
+ }
+
+ detail.setStraightVal((double) mesBody.getStraightDirectionPosition());
+
+ detail.setAgvAngle((double) mesBody.getAGVCurrentAngle());
+
+ detail.setGyroAngle((double) mesBody.getGyroAngle());
+
+ detail.setEncoderAngle((double) mesBody.getEncoderAngle());
+
+ detail.setHigh(mesBody.getCurrentAltitude());
+
+ detail.setSensorSts((long) mesBody.getSensorStatusFlags());
+
+ List<BackpackDto> backpackDtoList = new ArrayList<>();
+ backpackDtoList.add(new BackpackDto(1, mesBody.isTempLoc1()));
+ backpackDtoList.add(new BackpackDto(2, mesBody.isTempLoc2()));
+ backpackDtoList.add(new BackpackDto(3, mesBody.isTempLoc3()));
+ backpackDtoList.add(new BackpackDto(4, mesBody.isTempLoc4()));
+ backpackDtoList.add(new BackpackDto(5, mesBody.isTempLoc5()));
+ backpackDtoList.add(new BackpackDto(6, mesBody.isTempLoc6()));
+ backpackDtoList.add(new BackpackDto(7, mesBody.isTempLoc7()));
+ detail.setBackpack(GsonUtils.toJson(backpackDtoList));
+
+ }
+
+}
--
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