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MQTT消费

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cbs 2025-06-12 15:21:27 +08:00
parent 0072a4e4d0
commit 2e03d0780c
4 changed files with 33 additions and 18 deletions
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38
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
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@ -47,7 +47,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
@Resource
private RequestProcessor processor;
private static final ExecutorService executorService = Executors.newFixedThreadPool(5);
private static final ExecutorService executorService = Executors.newFixedThreadPool(20);
@Resource
private CommonApi commonApi;
@ -109,11 +109,9 @@ public class RobotStatusApiImpl implements RobotStatusApi {
redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
//机器人身上是否有货
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
redisUtil.set(taskStatusKey, robotStatusDataDTO.getTaskStatus(), robotPositionCacheTime);
redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getCargoDetected(), robotPositionCacheTime);
executorService.execute(() ->{
sendToPP(robotStatusDataPoseDTO);
});
// -- 通过mac 地址获取车辆信息 - (并且加入到缓存中)
Map<String, RobotInformationVO> robotInformationVOS = robotInformationService.getAllRobotByRedis();
@ -123,15 +121,27 @@ public class RobotStatusApiImpl implements RobotStatusApi {
}
robotInformationVO.setPose2d(robotStatusDataPoseDTO);
Map<String, Object> map = new HashMap<>();
String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea();
map.put(robotStatusDataDTO.getMac(), JSON.toJSONString(robotInformationVO));
redisUtil.hmset(value, map, 20);
RobotInformationVO finalRobotInformationVO = robotInformationVO;
executorService.execute(() ->{
//机器人身上是否有货
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
redisUtil.set(taskStatusKey, robotStatusDataDTO.getTaskStatus(), robotPositionCacheTime);
redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getCargoDetected(), robotPositionCacheTime);
Map<String, Object> map = new HashMap<>();
String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea();
map.put(robotStatusDataDTO.getMac(), JSON.toJSONString(finalRobotInformationVO));
redisUtil.hmset(value, map, 20);
});
executorService.execute(() ->{
// 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
processor.handleRequest(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(),
robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(finalRobotInformationVO));
});
// 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
processor.handleRequest(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(),
robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO));
sendToPP(robotStatusDataPoseDTO);
}
private void sendToPP(RobotStatusDataPoseDTO robotStatusDataPoseDTO) {

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java
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@ -95,6 +95,7 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
* @param ids
* @return
*/
@MapKey("id")
Map<Long, Long> selectSortNumByIds(@Param("ids") List<Long> ids);
/*@MapKey("id")
Map<Long, Long> selectSortNumByIds(@Param("ids") List<Long> ids);*/
List<PositionMapItemDO> selectSortNumByIds(@Param("ids") List<Long> ids);
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java
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@ -8,6 +8,7 @@ import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLinePageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapLineMapper;
@ -65,7 +66,10 @@ public class PositionMapLineServiceImpl extends ServiceImpl<PositionMapLineMappe
List<Long> endPointIds = addList.stream().map(PositionMapLineDO::getEndPointId).collect(Collectors.toList());
//合并startPointIds 和 endPointIds 并且去重
Set<Long> pointIds = CollUtil.unionDistinct(startPointIds, endPointIds);
map = positionMapItemMapper.selectSortNumByIds(new ArrayList<>(pointIds));
List<PositionMapItemDO> positionMapItemDOS = positionMapItemMapper.selectSortNumByIds(new ArrayList<>(pointIds));
if (ObjectUtil.isNotEmpty(positionMapItemDOS)) {
map = positionMapItemDOS.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum));
}
}
for (PositionMapLineDO positionMapLineDO : newList) {
positionMapLineDO.setPositionMapId(positionMapId);

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml
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@ -86,7 +86,7 @@
(#{item.positionMapId}, #{item.actualLocationX}, #{item.actualLocationY}, #{item.type})
</foreach>
</select>
<select id="selectSortNumByIds" resultType="map">
<select id="selectSortNumByIds" resultType="cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO">
select
id,
sort_num as sortNum