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 | 66 +++++++++++++++++++++++++++-----
1 files changed, 55 insertions(+), 11 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 9f6b7f2..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
@@ -1,11 +1,16 @@
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.service.astart.MapDataDispatcher;
+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;
@@ -23,17 +28,16 @@
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;
-/**
- * Created by vincent on 10/14/2024
- */
@Slf4j
@Component
public class MapDataWsScheduler {
- public static final int WEBSOCKET_BROADCAST_INTERVAL = 200;
+ public static final int WEBSOCKET_BROADCAST_INTERVAL = 300;
private ExecutorService singleThreadExecutor;
@@ -46,7 +50,7 @@
@Autowired
private CodeService codeService;
@Autowired
- private MapDataDispatcher mapDataDispatcher;
+ private MapService mapService;
@PostConstruct
public void init() {
@@ -58,7 +62,7 @@
MapWsVo mapWsVo = new MapWsVo();
mapWsVo.setAgvVos(syncAgv());
MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
- Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL);
+ Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL / 3);
} catch (Exception e) {
log.error("MapDataWsScheduler.init", e);
}
@@ -72,24 +76,36 @@
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());
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
if (null == agvDetail) { continue; }
Long recentCode = agvDetail.getRecentCode();
if (null == recentCode) { continue; }
- Code code = codeService.getById(recentCode);
+ 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(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
+ 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(mapDataDispatcher.queryCodeListFromDynamicNode(null, agv.getUuid()));
+ vo.setDynamicRoute(codeDataListMap.get(agv.getUuid()));
agvVos.add(vo);
}
@@ -97,9 +113,37 @@
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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