From 1313906bb1eb983d3beece810035e7fc28d6a92f Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期二, 20 五月 2025 16:57:11 +0800
Subject: [PATCH] 新增充电桩
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java | 144 +++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 136 insertions(+), 8 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
index 7aadde7..1691277 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
@@ -1,21 +1,149 @@
package com.zy.acs.manager.core.scheduler;
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.utils.GsonUtils;
+import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.core.cache.CoreCache;
+import com.zy.acs.manager.core.domain.BackpackDto;
+import com.zy.acs.manager.core.domain.CodeStepDto;
+import com.zy.acs.manager.core.domain.MapWsAgvVo;
import com.zy.acs.manager.core.domain.MapWsVo;
+import com.zy.acs.manager.core.domain.type.JobType;
+import com.zy.acs.manager.core.service.MapService;
+import com.zy.acs.manager.manager.entity.Agv;
+import com.zy.acs.manager.manager.entity.AgvDetail;
+import com.zy.acs.manager.manager.entity.AgvModel;
+import com.zy.acs.manager.manager.entity.Code;
+import com.zy.acs.manager.manager.service.AgvDetailService;
+import com.zy.acs.manager.manager.service.AgvModelService;
+import com.zy.acs.manager.manager.service.AgvService;
+import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.websocket.MapWebSocket;
-import org.springframework.scheduling.annotation.Scheduled;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
-/**
- * Created by vincent on 10/14/2024
- */
+import javax.annotation.PostConstruct;
+import javax.annotation.PreDestroy;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.stream.Collectors;
+
+@Slf4j
@Component
public class MapDataWsScheduler {
- @Scheduled(cron = "0/1 * * * * ? ")
- public void broadcast() {
- MapWsVo mapWsVo = new MapWsVo();
+ public static final int WEBSOCKET_BROADCAST_INTERVAL = 300;
- MapWebSocket.broadcast("123");
+ private ExecutorService singleThreadExecutor;
+
+ @Autowired
+ private AgvService agvService;
+ @Autowired
+ private AgvDetailService agvDetailService;
+ @Autowired
+ private AgvModelService agvModelService;
+ @Autowired
+ private CodeService codeService;
+ @Autowired
+ private MapService mapService;
+
+ @PostConstruct
+ public void init() {
+ this.singleThreadExecutor = Executors.newSingleThreadExecutor();
+ this.singleThreadExecutor.execute(() -> {
+ try { Thread.sleep(200); } catch (InterruptedException ignore) {}
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+ MapWsVo mapWsVo = new MapWsVo();
+ mapWsVo.setAgvVos(syncAgv());
+ MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
+ Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL / 3);
+ } catch (Exception e) {
+ log.error("MapDataWsScheduler.init", e);
+ }
+ }
+ });
+ }
+
+ private List<MapWsAgvVo> syncAgv() {
+ List<MapWsAgvVo> agvVos = new ArrayList<>();
+
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>()
+// .eq(Agv::getStatus, 1)
+ );
+
+ Map<String, List<String>> codeDataListMap = mapService.queryCodeListFromDynamicNode(null
+ , agvList.stream().map(Agv::getUuid).collect(Collectors.toSet()));
+
+ for (Agv agv : agvList) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ if (null == agvDetail) { continue; }
+ Long recentCode = agvDetail.getRecentCode();
+ if (null == recentCode) { continue; }
+ Code code = codeService.getCacheById(recentCode);
+ if (null == code) { continue; }
+
+ JobType jobType = this.getJobType(agv.getId(), code.getData());
+
+ MapWsAgvVo vo = new MapWsAgvVo();
+ vo.setAgvModel(agvModel.getType());
+ vo.setAgvNo(agv.getUuid());
+ vo.setCode(code.getData());
+ vo.setDirection(agvDetail.getAgvAngle());
+ vo.setBackpack(this.getBackpack(agv.getId(), agvDetail.getBackpack()));
+ if (null != jobType && null != jobType.increase) {
+ vo.setBackpack(vo.getBackpack() + (jobType.increase ? 1 : -1));
+ }
+ vo.setSlots(agvModel.getBackpack());
+ vo.setBattery(agvDetail.getSoc());
+ vo.setJobType(null == jobType ? null : jobType.breif);
+ vo.setError(agvDetail.realError());
+
+ vo.setDynamicRoute(codeDataListMap.get(agv.getUuid()));
+
+ agvVos.add(vo);
+ }
+
+ return agvVos;
+ }
+
+ private JobType getJobType(Long agvId, String currCodeData) {
+ if (null == agvId || Cools.isEmpty(currCodeData)) {
+ return null;
+ }
+ CodeStepDto codeStepDto = CoreCache.AGV_MOCK_STEP_CACHE.get(agvId);
+ if (null == codeStepDto) {
+ return null;
+ }
+ if (!codeStepDto.getCodeData().equals(currCodeData)) {
+ return null;
+ }
+ return codeStepDto.getJobType();
+ }
+
+ @PreDestroy
+ public void destroy() {
+ this.singleThreadExecutor.shutdownNow();
+ }
+
+ private Integer getBackpack(Long agvId, String backpackJson) {
+ if (null == agvId || Cools.isEmpty(backpackJson)) {
+ return 0;
+ }
+ List<BackpackDto> backpackDtoList = JSON.parseArray(backpackJson, BackpackDto.class);
+ int jsonCount = (int) backpackDtoList.stream().filter(BackpackDto::getLoaded).count();
+
+ Integer cacheCount = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
+ if (null == cacheCount) {
+ return jsonCount;
+ }
+ return Math.max(jsonCount, cacheCount);
}
}
--
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