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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