From 9483baffba9a24a2a36fc8739fc65b59317d9142 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 03 七月 2025 14:18:46 +0800
Subject: [PATCH] 队列拆分
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvDataService.java | 196 +++++++++---------------------------------------
1 files changed, 37 insertions(+), 159 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 1371a0a..c9d1c32 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
@@ -1,13 +1,15 @@
package com.zy.acs.manager.core.service;
import com.alibaba.fastjson.JSON;
-import com.zy.acs.framework.common.Cools;
-import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.domain.AgvProtocol;
-import com.zy.acs.common.domain.protocol.*;
+import com.zy.acs.common.domain.protocol.AGV_12_UP;
+import com.zy.acs.common.domain.protocol.IMessageBody;
+import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
-import com.zy.acs.manager.common.domain.WebsocketDto;
-import com.zy.acs.manager.manager.entity.Agv;
+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.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.service.*;
@@ -16,7 +18,9 @@
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
@@ -57,15 +61,15 @@
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;
@@ -78,50 +82,26 @@
AGV_12_UP agv_12_up = (AGV_12_UP) msgBody;
// unlock path
- threadPoolRegulator.getInstance().execute(() -> {
-// avoidWaveCalculator.syncWaveBySingleVeh(protocol.getAgvNo(), agv_12_up.getQrCode());
- mapService.unlockPath(protocol.getAgvNo(), agv_12_up.getQrCode());
-// mapService.unlockPath(protocol.getAgvNo(), Utils.singletonList(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));
+// 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);
+// 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); // todo
- if (PRINT_LOG) {
- log.info("Agv [{}] 鏃犵爜瀹炴椂鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_13_up));
+ // 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);
}
- }
- // 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;
- log.info("Agv [{}] 鏁呴殰鏁版嵁鍖� ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_04_up));
-// faultProcessor.execute(new VehicleFaultDto());
}
if (!agvDetailService.updateById(detail)) {
@@ -132,7 +112,9 @@
// 鏈夌爜瀹炴椂鏁版嵁鍖�
private void sync(AGV_12_UP mesBody, AgvDetail detail) {
- Code code = codeService.selectByData(mesBody.getQrCode());
+ detail.setStatus(mesBody.getStatus());
+
+ Code code = codeService.getCacheByData(mesBody.getQrCode());
if (null != code) {
detail.setCode(code.getId());
detail.setLastCode(null);
@@ -143,8 +125,6 @@
} 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.setStatus(mesBody.getStatus());
// 鍦伴潰鐮佸亸绉�
detail.setCodeOffsert(JSON.toJSONString(Cools
@@ -166,119 +146,17 @@
detail.setSensorSts((long) mesBody.getSensorStatusFlags());
- int tempQua = 0;
- if (mesBody.isTempLoc1()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc2()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc3()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc4()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc5()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc6()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc7()) {
- tempQua ++;
- }
- detail.setTempQua(tempQua);
+ 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) {
- Code code = codeService.selectByData(mesBody.getQrCode());
- if (null != code) {
- detail.setCode(null);
- detail.setLastCode(code.getId());
- detail.setPos(0);
-// if (!agvDetailService.updateUnPosCode(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());
- }
-
- 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());
-
- int tempQua = 0;
- if (mesBody.isTempLoc1()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc2()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc3()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc4()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc5()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc6()) {
- tempQua ++;
- }
- if (mesBody.isTempLoc7()) {
- tempQua ++;
- }
- detail.setTempQua(tempQua);
-
- }
-
- // 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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