From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java | 280 ++++++++++++++++---------------------------------------
1 files changed, 82 insertions(+), 198 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 4bb3460..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
@@ -1,59 +1,73 @@
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;
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 lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
+import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
+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 = 300;
+
+ private ExecutorService singleThreadExecutor;
@Autowired
private AgvService agvService;
@Autowired
private AgvDetailService agvDetailService;
@Autowired
+ private AgvModelService agvModelService;
+ @Autowired
private CodeService codeService;
@Autowired
- private MapDataDispatcher mapDataDispatcher;
+ private MapService mapService;
- int i = 0;
-
- @Scheduled(cron = "0/1 * * * * ? ")
- public void broadcast() {
-// i++;
-// int key;
-// if (i > 10) {
-// i=0;
-// }
-// key = i /2;
-// MapWebSocket.broadcast(mockData.get(key));
-
-
- MapWsVo mapWsVo = new MapWsVo();
- mapWsVo.setAgvVos(syncAgv());
- MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
+ @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() {
@@ -62,22 +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());
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);
}
@@ -85,181 +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();
-
-
- private static final Map<Integer, String> mockData = new ConcurrentHashMap<>();
-
- @PostConstruct
- public void init() {
- mockData.put(1,
- "{\n" +
- " \"agvVos\": [\n" +
- " {\n" +
- " \"agvNo\": \"1\",\n" +
- " \"code\": \"00000002\",\n" +
- " \"direction\": 90,\n" +
- " \"dynamicRoute\": [\n" +
- " \"00000002\",\n" +
- " \"00000003\",\n" +
- " \"00000004\"\n" +
- " ]\n" +
- " },\n" +
- " {\n" +
- " \"agvNo\": \"2\",\n" +
- " \"code\": \"00000063\",\n" +
- " \"direction\": 90,\n" +
- " \"dynamicRoute\": [\n" +
- " \"00000063\",\n" +
- " \"00000062\",\n" +
- " \"00000061\",\n" +
- " \"00000060\",\n" +
- " \"00000059\"\n" +
- " ]\n" +
- " }\n" +
- " ]\n" +
- "}"
- );
- mockData.put(2,
-"{\n" +
- " \"agvVos\": [\n" +
- " {\n" +
- " \"agvNo\": \"1\",\n" +
- " \"code\": \"00000003\",\n" +
- " \"direction\": 90,\n" +
- " \"dynamicRoute\": [\n" +
- " \"00000003\",\n" +
- " \"00000004\"\n" +
- " ]\n" +
- " },\n" +
- " {\n" +
- " \"agvNo\": \"2\",\n" +
- " \"code\": \"00000062\",\n" +
- " \"direction\": 90,\n" +
- " \"dynamicRoute\": [\n" +
- " \n" +
- " \"00000062\",\n" +
- " \"00000061\",\n" +
- " \"00000060\",\n" +
- " \"00000059\"\n" +
- " ]\n" +
- " }\n" +
- " ]\n" +
- "}"
-
- );
-
- mockData.put(3,
- "{\n" +
- " \"agvVos\": [\n" +
- " {\n" +
- " \"agvNo\": \"1\",\n" +
- " \"code\": \"00000004\",\n" +
- " \"direction\": 90,\n" +
- " \"dynamicRoute\": [\n" +
- " \n" +
- " \"00000004\"\n" +
- " ]\n" +
- " },\n" +
- " {\n" +
- " \"agvNo\": \"2\",\n" +
- " \"code\": \"00000061\",\n" +
- " \"direction\": 90,\n" +
- " \"dynamicRoute\": [\n" +
- "\n" +
- " \"00000061\",\n" +
- " \"00000060\",\n" +
- " \"00000059\"\n" +
- " ]\n" +
- " }\n" +
- " ]\n" +
- "}"
- );
-
- mockData.put(4,
- "{\n" +
- " \"agvVos\": [\n" +
- " {\n" +
- " \"agvNo\": \"1\",\n" +
- " \"code\": \"00000004\",\n" +
- " \"direction\": 120,\n" +
- " \"dynamicRoute\": [\n" +
- " \"00000004\"\n" +
- " ]\n" +
- " },\n" +
- " {\n" +
- " \"agvNo\": \"2\",\n" +
- " \"code\": \"00000060\",\n" +
- " \"direction\": 90,\n" +
- " \"dynamicRoute\": [\n" +
- "\n" +
- " \"00000060\",\n" +
- " \"00000059\"\n" +
- " ]\n" +
- " }\n" +
- " ]\n" +
- "}"
- );
-
- mockData.put(5,
- "{\n" +
- " \"agvVos\": [\n" +
- " {\n" +
- " \"agvNo\": \"1\",\n" +
- " \"code\": \"00000004\",\n" +
- " \"direction\": 180,\n" +
- " \"dynamicRoute\": [\n" +
- " \"00000004\"\n" +
- " ]\n" +
- " },\n" +
- " {\n" +
- " \"agvNo\": \"2\",\n" +
- " \"code\": \"00000059\",\n" +
- " \"direction\": 90,\n" +
- " \"dynamicRoute\": [\n" +
- "\n" +
- " \"00000059\"\n" +
- " ]\n" +
- " }\n" +
- " ]\n" +
- "}"
-
- );
+ Integer cacheCount = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
+ if (null == cacheCount) {
+ return jsonCount;
+ }
+ return Math.max(jsonCount, cacheCount);
}
}
-
-
-/**
-
- {
- "agvVos": [
- {
- "agvNo": "1",
- "code": "00000002",
- "direction": 90,
- "dynamicRoute": [
- "00000002",
- "00000003",
- "00000004"
- ]
- },
- {
- "agvNo": "2",
- "code": "00000063",
- "direction": 90,
- "dynamicRoute": [
- "00000063",
- "00000062",
- "00000061",
- "00000060",
- "00000059"
- ]
- }
- ]
- }
- ]
- }
- */
\ No newline at end of file
--
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