MQTT消费

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java

@@ -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
+        executorService.execute(() ->{
-        String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
+            sendToPP(robotStatusDataPoseDTO);
-        String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
+        });
-        redisUtil.set(taskStatusKey, robotStatusDataDTO.getTaskStatus(), robotPositionCacheTime);
-        redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getCargoDetected(), robotPositionCacheTime);
 
         // -- 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);
 
+        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(robotInformationVO));
+            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(robotInformationVO));
+                    robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(finalRobotInformationVO));
-        sendToPP(robotStatusDataPoseDTO);
+        });
+
+
     }
 
     private void sendToPP(RobotStatusDataPoseDTO robotStatusDataPoseDTO) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java

@@ -95,6 +95,7 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
      * @param ids
      * @return
      */
-    @MapKey("id")
+    /*@MapKey("id")
-    Map<Long, Long> selectSortNumByIds(@Param("ids") List<Long> ids);
+    Map<Long, Long> selectSortNumByIds(@Param("ids") List<Long> ids);*/
+    List<PositionMapItemDO> selectSortNumByIds(@Param("ids") List<Long> ids);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java

@@ -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);

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml

@@ -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