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) {
+//
+// }
+//
+//}
--
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