From 70930071a49190f414c8d8bc9c9e9795a4096739 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期一, 23 三月 2026 16:08:27 +0800
Subject: [PATCH] Merge branch 'refs/heads/rcs_master' into jdxaj
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java | 65 ++++++++++++++++++--------------
1 files changed, 37 insertions(+), 28 deletions(-)
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 9f4521a..2f62b40 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
@@ -4,13 +4,14 @@
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.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.service.*;
@@ -18,6 +19,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
+import com.zy.acs.common.utils.News;
import java.util.ArrayList;
import java.util.Date;
@@ -62,17 +64,17 @@
IMessageBody msgBody = protocol.getMessageBody();
assert msgBody != null;
- Agv agv = agvService.selectByUuid(protocol.getAgvNo());
- if (null == agv) {
- log.warn("Agv [{}] 灏氭湭閴存潈 锛侊紒锛�", protocol.getAgvNo());
+ Long agvId = agvService.getAgvId(protocol.getAgvNo());
+ if (null == agvId) {
+ News.warn("Agv [{}] 灏氭湭閴存潈 锛侊紒锛�", protocol.getAgvNo());
return;
}
- AgvDetail detail = agvDetailService.selectByAgvId(agv.getId());
+ AgvDetail detail = agvDetailService.selectByAgvId(agvId);
if (null == detail) {
detail = new AgvDetail();
- detail.setAgvId(agv.getId());
+ detail.setAgvId(agvId);
if (!agvDetailService.save(detail)) {
- log.error("Agv [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo());
+ News.error("Agv [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo());
return;
}
}
@@ -83,17 +85,18 @@
AGV_12_UP agv_12_up = (AGV_12_UP) msgBody;
// unlock path
- threadPoolRegulator.getInstance().execute(() -> {
- mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode());
- });
+ mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode());
+// threadPoolRegulator.getInstance().execute(() -> {
+//
+// });
// finish jam
- threadPoolRegulator.getInstance().execute(() -> jamService.checkIfFinish(agv.getId(), agv_12_up.getQrCode()));
+ 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));
+ News.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�
@@ -103,7 +106,7 @@
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));
+ News.info("Agv [{}] 鏃犵爜瀹炴椂鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_13_up));
}
}
// 蹇冭烦鍖�
@@ -111,33 +114,39 @@
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));
+ News.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));
+ News.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;
- log.info("Agv [{}] 鏁呴殰鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_04_up));
+ AgvErrorType errorType = AgvErrorType.query(agv_04_up.getHexFaultId());
+ News.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.setError(String.valueOf(agv_04_up.getFaultId()));
- detail.setErrorTime(new Date());
+
+ // detail
+ String errorMSg = errorType != null ? errorType.getMsg() : agv_04_up.getHexFaultId();
+ detail.setError(errorMSg);
+ detail.setErrorTime(now);
}
// 鏁呴殰澶嶄綅
- if (!Cools.isEmpty(detail.getError())) {
+ if (!Cools.isEmpty(detail.realError())) {
assert detail.getErrorTime() != null;
- if (DateUtils.diffToSeconds(detail.getErrorTime(), new Date()) > 20) {
- detail.setError("NONE");
+ if (DateUtils.diffToSeconds(detail.getErrorTime(), now) > 10) {
+ 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());
+ News.error("Agv [{}] 璇︽儏鏇存柊澶辫触 锛侊紒锛�", protocol.getAgvNo());
}
}
@@ -146,16 +155,16 @@
private void sync(AGV_12_UP mesBody, AgvDetail detail) {
detail.setStatus(mesBody.getStatus());
- Code code = codeService.selectByData(mesBody.getQrCode());
+ 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());
+// News.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());
+ News.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�
@@ -194,7 +203,7 @@
private void sync(AGV_13_UP mesBody, AgvDetail detail) {
detail.setStatus(mesBody.getStatus());
- Code code = codeService.selectByData(mesBody.getQrCode());
+ Code code = codeService.getCacheByData(mesBody.getQrCode());
if (null != code) {
if (!detail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
@@ -209,7 +218,7 @@
} 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());
+ News.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());
@@ -273,4 +282,4 @@
}
-}
+}
\ No newline at end of file
--
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