From 9fb7c7678174c0fea9bf7c96dca8c24b165d0a48 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 04 一月 2025 13:20:57 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java | 32 +++++++++++++++++++++++++-------
1 files changed, 25 insertions(+), 7 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 f3c07bb..4918fd8 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
@@ -4,11 +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.manager.entity.Agv;
+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.*;
@@ -60,15 +63,15 @@
IMessageBody msgBody = protocol.getMessageBody();
assert msgBody != null;
- Agv agv = agvService.selectByUuid(protocol.getAgvNo());
- if (null == agv) {
+ 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(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());
return;
@@ -85,7 +88,7 @@
mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode());
});
// 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);
@@ -121,10 +124,25 @@
// 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));
-// faultProcessor.execute(new VehicleFaultDto());
+
+ // 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());
}
--
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