From 59365e74fcda73ce10cfab475de43f171bb99a2a Mon Sep 17 00:00:00 2001 From: zhang <zc857179121@qq.com> Date: 星期四, 03 七月 2025 10:10:38 +0800 Subject: [PATCH] 队列拆分 --- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataNoCodeService.java | 143 +++++++ zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java | 126 ------ zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java | 8 zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataErrorSubscriber.java | 56 ++ zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java | 8 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataLoginService.java | 98 +++++ zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataHeartbeatService.java | 123 ++++++ zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataServiceBack.java | 284 ++++++++++++++ zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataNoCodeSubscriber.java | 56 ++ zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataErrorService.java | 106 +++++ zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataHeartbeatSubscriber.java | 56 ++ zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataLoginSubscriber.java | 56 ++ 12 files changed, 990 insertions(+), 130 deletions(-) diff --git a/zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java b/zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java index 9bd8c93..3f5fed1 100644 --- a/zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java +++ b/zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java @@ -19,6 +19,14 @@ public static final String AGV_DATA_FLAG = "AGV_DATA_FLAG"; + public static final String AGV_DATA_NO_CODE_FLAG = "AGV_DATA_NO_CODE_FLAG"; + + public static final String AGV_DATA_LOGIN_FLAG = "AGV_DATA_LOGIN_FLAG"; + + public static final String AGV_DATA_HEARTBEAT_FLAG = "AGV_DATA_HEARTBEAT_FLAG"; + + public static final String AGV_DATA_ERROR_FLAG = "AGV_DATA_ERROR_FLAG"; + public static final String AGV_TO_STANDBY_FLAG = "AGV_TO_STANDBY_FLAG"; public static final String AGV_FAULT_REPORT_FLAG = "AGV_FAULT_REPORT_FLAG"; diff --git a/zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java b/zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java index 49ad300..4715710 100644 --- a/zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java +++ b/zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java @@ -104,7 +104,7 @@ case DATA_WITHOUT_CODE_REPORT: // 鏃犵爜瀹炴椂鏁版嵁 AGV_13_UP agv_13_up = (AGV_13_UP) pac.getBody().getMessageBody(); - redis.push(RedisConstant.AGV_DATA_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_13_up)); + redis.push(RedisConstant.AGV_DATA_NO_CODE_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_13_up)); // executors.getInstance().execute(() -> { // @@ -123,7 +123,7 @@ redis.setObject(RedisConstant.AGV_ONLINE_FLAG, pac.getHeader().getUniqueNo(), 1, 30); AGV_03_UP agv_03_up = (AGV_03_UP) pac.getBody().getMessageBody(); - redis.push(RedisConstant.AGV_DATA_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_03_up)); + redis.push(RedisConstant.AGV_DATA_HEARTBEAT_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_03_up)); // executors.getInstance().execute(() -> { @@ -158,7 +158,7 @@ case LOGIN_REPORT: // 鐧诲綍 AGV_F0_UP agv_f0_up = (AGV_F0_UP) pac.getBody().getMessageBody(); - redis.push(RedisConstant.AGV_DATA_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_f0_up)); + redis.push(RedisConstant.AGV_DATA_LOGIN_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_f0_up)); // 鐧诲綍搴旂瓟 if (null != ackType) { @@ -175,7 +175,7 @@ case FAULT_REPORT: // 鏁呴殰鏁版嵁鍖� AGV_04_UP agv_04_up = (AGV_04_UP) pac.getBody().getMessageBody(); - redis.push(RedisConstant.AGV_DATA_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_04_up)); + redis.push(RedisConstant.AGV_DATA_ERROR_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_04_up)); break label; diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataErrorSubscriber.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataErrorSubscriber.java new file mode 100644 index 0000000..4cb36a8 --- /dev/null +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataErrorSubscriber.java @@ -0,0 +1,56 @@ +package com.zy.acs.manager.core.listen; + +import com.zy.acs.common.constant.RedisConstant; +import com.zy.acs.common.domain.AgvProtocol; +import com.zy.acs.common.utils.RedisSupport; +import com.zy.acs.manager.core.service.AgvDataErrorService; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.boot.context.event.ApplicationReadyEvent; +import org.springframework.context.event.EventListener; +import org.springframework.stereotype.Component; + +import javax.annotation.PreDestroy; + +/** + * Created by vincent on 2023/6/16 + */ +@Slf4j +@Component +public class AgvDataErrorSubscriber { + + private Thread thread; + private final RedisSupport redis = RedisSupport.defaultRedisSupport; + + @Autowired + private AgvDataErrorService agvDataService; + + @EventListener(ApplicationReadyEvent.class) + private void start() { +// redis.deleteList(RedisConstant.AGV_DATA_FLAG); + thread = new Thread(() -> { + while (!Thread.currentThread().isInterrupted()) { + try { + // 闂撮殧 + Thread.sleep(10); + + AgvProtocol protocol = redis.pop(RedisConstant.AGV_DATA_ERROR_FLAG); + if (null != protocol) { + + agvDataService.dataProcess(protocol); + } + + } catch (Exception ignore) { + } + } + }); + thread.start(); + } + + @PreDestroy + public void shutDown() { + if (thread != null) thread.interrupt(); + } + + +} diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataHeartbeatSubscriber.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataHeartbeatSubscriber.java new file mode 100644 index 0000000..ae205e5 --- /dev/null +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataHeartbeatSubscriber.java @@ -0,0 +1,56 @@ +package com.zy.acs.manager.core.listen; + +import com.zy.acs.common.constant.RedisConstant; +import com.zy.acs.common.domain.AgvProtocol; +import com.zy.acs.common.utils.RedisSupport; +import com.zy.acs.manager.core.service.AgvDataHeartbeatService; +import com.zy.acs.manager.core.service.AgvDataService; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.boot.context.event.ApplicationReadyEvent; +import org.springframework.context.event.EventListener; +import org.springframework.stereotype.Component; + +import javax.annotation.PreDestroy; + +/** + * Created by vincent on 2023/6/16 + */ +@Slf4j +@Component +public class AgvDataHeartbeatSubscriber { + + private Thread thread; + private final RedisSupport redis = RedisSupport.defaultRedisSupport; + + @Autowired + private AgvDataHeartbeatService agvDataService; + + @EventListener(ApplicationReadyEvent.class) + private void start(){ +// redis.deleteList(RedisConstant.AGV_DATA_FLAG); + thread = new Thread(() -> { + while (!Thread.currentThread().isInterrupted()) { + try { + // 闂撮殧 + Thread.sleep(10); + + AgvProtocol protocol = redis.pop(RedisConstant.AGV_DATA_HEARTBEAT_FLAG); + if (null != protocol){ + + agvDataService.dataProcess(protocol); + } + + } catch (Exception ignore) {} + } + }); + thread.start(); + } + + @PreDestroy + public void shutDown(){ + if (thread != null) thread.interrupt(); + } + + +} diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataLoginSubscriber.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataLoginSubscriber.java new file mode 100644 index 0000000..2948521 --- /dev/null +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataLoginSubscriber.java @@ -0,0 +1,56 @@ +package com.zy.acs.manager.core.listen; + +import com.zy.acs.common.constant.RedisConstant; +import com.zy.acs.common.domain.AgvProtocol; +import com.zy.acs.common.utils.RedisSupport; +import com.zy.acs.manager.core.service.AgvDataLoginService; +import com.zy.acs.manager.core.service.AgvDataService; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.boot.context.event.ApplicationReadyEvent; +import org.springframework.context.event.EventListener; +import org.springframework.stereotype.Component; + +import javax.annotation.PreDestroy; + +/** + * Created by vincent on 2023/6/16 + */ +@Slf4j +@Component +public class AgvDataLoginSubscriber { + + private Thread thread; + private final RedisSupport redis = RedisSupport.defaultRedisSupport; + + @Autowired + private AgvDataLoginService agvDataService; + + @EventListener(ApplicationReadyEvent.class) + private void start(){ +// redis.deleteList(RedisConstant.AGV_DATA_FLAG); + thread = new Thread(() -> { + while (!Thread.currentThread().isInterrupted()) { + try { + // 闂撮殧 + Thread.sleep(10); + + AgvProtocol protocol = redis.pop(RedisConstant.AGV_DATA_LOGIN_FLAG); + if (null != protocol){ + + agvDataService.dataProcess(protocol); + } + + } catch (Exception ignore) {} + } + }); + thread.start(); + } + + @PreDestroy + public void shutDown(){ + if (thread != null) thread.interrupt(); + } + + +} diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataNoCodeSubscriber.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataNoCodeSubscriber.java new file mode 100644 index 0000000..034ba72 --- /dev/null +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataNoCodeSubscriber.java @@ -0,0 +1,56 @@ +package com.zy.acs.manager.core.listen; + +import com.zy.acs.common.constant.RedisConstant; +import com.zy.acs.common.domain.AgvProtocol; +import com.zy.acs.common.utils.RedisSupport; +import com.zy.acs.manager.core.service.AgvDataNoCodeService; +import com.zy.acs.manager.core.service.AgvDataService; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.boot.context.event.ApplicationReadyEvent; +import org.springframework.context.event.EventListener; +import org.springframework.stereotype.Component; + +import javax.annotation.PreDestroy; + +/** + * Created by vincent on 2023/6/16 + */ +@Slf4j +@Component +public class AgvDataNoCodeSubscriber { + + private Thread thread; + private final RedisSupport redis = RedisSupport.defaultRedisSupport; + + @Autowired + private AgvDataNoCodeService agvDataService; + + @EventListener(ApplicationReadyEvent.class) + private void start(){ +// redis.deleteList(RedisConstant.AGV_DATA_FLAG); + thread = new Thread(() -> { + while (!Thread.currentThread().isInterrupted()) { + try { + // 闂撮殧 + Thread.sleep(10); + + AgvProtocol protocol = redis.pop(RedisConstant.AGV_DATA_NO_CODE_FLAG); + if (null != protocol){ + + agvDataService.dataProcess(protocol); + } + + } catch (Exception ignore) {} + } + }); + thread.start(); + } + + @PreDestroy + public void shutDown(){ + if (thread != null) thread.interrupt(); + } + + +} diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataErrorService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataErrorService.java new file mode 100644 index 0000000..8b99a80 --- /dev/null +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataErrorService.java @@ -0,0 +1,106 @@ +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_04_UP; +import com.zy.acs.common.domain.protocol.IMessageBody; +import com.zy.acs.common.enums.error.AgvErrorType; +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.VehicleFaultDto; +import com.zy.acs.manager.manager.entity.AgvDetail; +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.Date; + +/** + * Created by vincent on 2023/6/16 + */ +@Slf4j +@Service +public class AgvDataErrorService { + + 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); + + // 鏁呴殰鏁版嵁鍖� + 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 [{}] 鏁呴殰鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_04_up)); + + // 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()); + } + + // 鏁呴殰澶嶄綅 + 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 [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo()); + } + + } + + +} diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataHeartbeatService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataHeartbeatService.java new file mode 100644 index 0000000..e410c1f --- /dev/null +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataHeartbeatService.java @@ -0,0 +1,123 @@ +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_03_UP; +import com.zy.acs.common.domain.protocol.IMessageBody; +import com.zy.acs.common.utils.RedisSupport; +import com.zy.acs.framework.common.Cools; +import com.zy.acs.manager.manager.entity.AgvDetail; +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.Date; + +/** + * Created by vincent on 2023/6/16 + */ +@Slf4j +@Service +public class AgvDataHeartbeatService { + + 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); + + + // 蹇冭烦鍖� + if (msgBody instanceof AGV_03_UP) { + AGV_03_UP agv_03_up = (AGV_03_UP) msgBody; + this.sync(agv_03_up, detail); + if (PRINT_LOG) { + log.info("Agv [{}] 蹇冭烦鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_03_up)); + } + } + + if (!agvDetailService.updateById(detail)) { + log.error("Agv [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo()); + } + + } + + + // 蹇冭烦鍖� + private void sync(AGV_03_UP mesBody, AgvDetail detail) { + + detail.setVol(mesBody.getVoltage()); + detail.setSoc(mesBody.getSoc()); + detail.setSoh(mesBody.getSoh()); + detail.setBatteryFail(mesBody.getBatterFailSign()); + + detail.setTempe(JSON.toJSONString(Cools + .add("batteryTempe", mesBody.getBatteryTempe()) + .add("envirTempe", mesBody.getEnvirTempe()) + .add("leftMotorTempe", mesBody.getLeftMotorTempe()) + .add("rightMotorTempe", mesBody.getRightMotorTempe()) + .add("raiseMotorTempe", mesBody.getRaiseMotorTempe()) + .add("telescopicMotorTempe", mesBody.getTelescopicMotorTempe()) + .add("rotatingMotorTempe", mesBody.getRotatingMotorTempe()) + )); + + detail.setMotorFail(JSON.toJSONString(Cools + .add("leftMotorFailSign", mesBody.getLeftMotorFailSign()) + .add("rightMotorFailSign", mesBody.getRightMotorFailSign()) + .add("raiseMotorFailSign", mesBody.getRaiseMotorFailSign()) + .add("telescopicMotorFailSign", mesBody.getTelescopicMotorFailSign()) + .add("rotatingMotorFailSign", mesBody.getRotatingMotorFailSign()) + )); + + detail.setFailSign(String.valueOf(mesBody.getFailSign())); + + detail.setBootTime(mesBody.getBootTime()); + + } + + +} diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataLoginService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataLoginService.java new file mode 100644 index 0000000..c598c47 --- /dev/null +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataLoginService.java @@ -0,0 +1,98 @@ +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.*; +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.framework.common.Cools; +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 AgvDataLoginService { + + 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); + + + // 鐧婚檰鍖� + if (msgBody instanceof AGV_F0_UP) { + AGV_F0_UP agv_f0_up = (AGV_F0_UP) msgBody; + this.sync(agv_f0_up, detail); + log.info("Agv [{}] 鐧婚檰鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_f0_up)); + } + +// if (!agvDetailService.updateById(detail)) { +// log.error("Agv [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo()); +// } + + } + + + // 鐧婚檰鍖� + private void sync(AGV_F0_UP mesBody, AgvDetail detail) { + + } + +} 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)); + + } + +} diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java index c63c585..56cfc33 100644 --- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java @@ -98,52 +98,7 @@ log.info("Agv [{}] 鏈夌爜瀹炴椂鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_12_up)); } } - // 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)); - } - } - // 蹇冭烦鍖� - if (msgBody instanceof AGV_03_UP) { - AGV_03_UP agv_03_up = (AGV_03_UP) msgBody; - this.sync(agv_03_up, detail); - if (PRINT_LOG) { - log.info("Agv [{}] 蹇冭烦鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_03_up)); - } - } - // 鐧婚檰鍖� - if (msgBody instanceof AGV_F0_UP) { - AGV_F0_UP agv_f0_up = (AGV_F0_UP) msgBody; - this.sync(agv_f0_up, detail); - log.info("Agv [{}] 鐧婚檰鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_f0_up)); - } - // 鏁呴殰鏁版嵁鍖� - 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 [{}] 鏁呴殰鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_04_up)); - // 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()); - } - - // 鏁呴殰澶嶄綅 - 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 [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo()); } @@ -198,87 +153,6 @@ } - // 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)); - - } - - // 蹇冭烦鍖� - private void sync(AGV_03_UP mesBody, AgvDetail detail) { - - detail.setVol(mesBody.getVoltage()); - detail.setSoc(mesBody.getSoc()); - detail.setSoh(mesBody.getSoh()); - detail.setBatteryFail(mesBody.getBatterFailSign()); - - detail.setTempe(JSON.toJSONString(Cools - .add("batteryTempe", mesBody.getBatteryTempe()) - .add("envirTempe", mesBody.getEnvirTempe()) - .add("leftMotorTempe", mesBody.getLeftMotorTempe()) - .add("rightMotorTempe", mesBody.getRightMotorTempe()) - .add("raiseMotorTempe", mesBody.getRaiseMotorTempe()) - .add("telescopicMotorTempe", mesBody.getTelescopicMotorTempe()) - .add("rotatingMotorTempe", mesBody.getRotatingMotorTempe()) - )); - - detail.setMotorFail(JSON.toJSONString(Cools - .add("leftMotorFailSign", mesBody.getLeftMotorFailSign()) - .add("rightMotorFailSign", mesBody.getRightMotorFailSign()) - .add("raiseMotorFailSign", mesBody.getRaiseMotorFailSign()) - .add("telescopicMotorFailSign", mesBody.getTelescopicMotorFailSign()) - .add("rotatingMotorFailSign", mesBody.getRotatingMotorFailSign()) - )); - - detail.setFailSign(String.valueOf(mesBody.getFailSign())); - - detail.setBootTime(mesBody.getBootTime()); - - } - - // 鐧婚檰鍖� - private void sync(AGV_F0_UP mesBody, AgvDetail detail) { - - } } diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataServiceBack.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataServiceBack.java new file mode 100644 index 0000000..6897606 --- /dev/null +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataServiceBack.java @@ -0,0 +1,284 @@ +//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.*; +//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.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.*; +//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 AgvDataServiceBack { +// +// 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); +// +// // 鏈夌爜瀹炴椂鏁版嵁鍖� +// if (msgBody instanceof AGV_12_UP) { +// AGV_12_UP agv_12_up = (AGV_12_UP) msgBody; +// +// // unlock path +// mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode()); +//// threadPoolRegulator.getInstance().execute(() -> { +//// +//// }); +// // finish jam +// 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); +//// redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_12_up); +// if (PRINT_LOG) { +// log.info("Agv [{}] 鏈夌爜瀹炴椂鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_12_up)); +// } +// } +// // 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)); +// } +// } +// // 蹇冭烦鍖� +// if (msgBody instanceof AGV_03_UP) { +// AGV_03_UP agv_03_up = (AGV_03_UP) msgBody; +// this.sync(agv_03_up, detail); +// if (PRINT_LOG) { +// log.info("Agv [{}] 蹇冭烦鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_03_up)); +// } +// } +// // 鐧婚檰鍖� +// if (msgBody instanceof AGV_F0_UP) { +// AGV_F0_UP agv_f0_up = (AGV_F0_UP) msgBody; +// this.sync(agv_f0_up, detail); +// log.info("Agv [{}] 鐧婚檰鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_f0_up)); +// } +// // 鏁呴殰鏁版嵁鍖� +// 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 [{}] 鏁呴殰鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_04_up)); +// +// // 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()); +// } +// +// // 鏁呴殰澶嶄綅 +// 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 [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo()); +// } +// +// } +// +// // 鏈夌爜瀹炴椂鏁版嵁鍖� +// private void sync(AGV_12_UP mesBody, AgvDetail detail) { +// detail.setStatus(mesBody.getStatus()); +// +// Code code = codeService.getCacheByData(mesBody.getQrCode()); +// if (null != code) { +// detail.setCode(code.getId()); +// detail.setLastCode(null); +// detail.setPos(1); +//// if (!agvDetailService.updatePosCode(detail.getId(), code.getId())) { +//// log.error("Agv [{}] 鏇存柊瀹氫綅鏁版嵁澶辫触 锛侊紒锛�", agvService.getById(detail.getAgvId()).getUuid()); +//// } +// } 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()); +// } +// +// // 鍦伴潰鐮佸亸绉� +// detail.setCodeOffsert(JSON.toJSONString(Cools +// .add("offsetX", mesBody.getOffsetX()) +// .add("offsetY", mesBody.getOffsetX()) +// .add("groundCodeOffset0", mesBody.getGroundCodeOffset0()) +// )); +// +// +// 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)); +// +// } +// +// // 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)); +// +// } +// +// // 蹇冭烦鍖� +// private void sync(AGV_03_UP mesBody, AgvDetail detail) { +// +// detail.setVol(mesBody.getVoltage()); +// detail.setSoc(mesBody.getSoc()); +// detail.setSoh(mesBody.getSoh()); +// detail.setBatteryFail(mesBody.getBatterFailSign()); +// +// detail.setTempe(JSON.toJSONString(Cools +// .add("batteryTempe", mesBody.getBatteryTempe()) +// .add("envirTempe", mesBody.getEnvirTempe()) +// .add("leftMotorTempe", mesBody.getLeftMotorTempe()) +// .add("rightMotorTempe", mesBody.getRightMotorTempe()) +// .add("raiseMotorTempe", mesBody.getRaiseMotorTempe()) +// .add("telescopicMotorTempe", mesBody.getTelescopicMotorTempe()) +// .add("rotatingMotorTempe", mesBody.getRotatingMotorTempe()) +// )); +// +// detail.setMotorFail(JSON.toJSONString(Cools +// .add("leftMotorFailSign", mesBody.getLeftMotorFailSign()) +// .add("rightMotorFailSign", mesBody.getRightMotorFailSign()) +// .add("raiseMotorFailSign", mesBody.getRaiseMotorFailSign()) +// .add("telescopicMotorFailSign", mesBody.getTelescopicMotorFailSign()) +// .add("rotatingMotorFailSign", mesBody.getRotatingMotorFailSign()) +// )); +// +// detail.setFailSign(String.valueOf(mesBody.getFailSign())); +// +// detail.setBootTime(mesBody.getBootTime()); +// +// } +// +// // 鐧婚檰鍖� +// private void sync(AGV_F0_UP mesBody, AgvDetail detail) { +// +// } +// +//} -- Gitblit v1.9.1