Agv Event 体系

servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java

@@ -12,16 +12,12 @@ import com.galaxis.rcs.ptr.receiveEntity.base.CurBatteryData;
 import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSRMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSetLocationMessage;
-import com.google.common.base.Joiner;
 import com.google.common.collect.Queues;
-import com.yvan.LccUtils;
-import com.yvan.event.AgvEventType;
 import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.StaticItem;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.clever.core.BannerUtils;
 import org.clever.data.redis.Redis;
 import org.clever.data.redis.RedisAdmin;
 
@@ -86,7 +82,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
     final Cl2DeviceConnector cl2DeviceConnector = new Cl2DeviceConnector(this.runtime);
 
-    final AmrMessageHandler amrMessageHandler;
+    public final AmrMessageHandler amrMessageHandler;
 
     /**
      * 连接器线程
@@ -338,16 +334,16 @@ public abstract class PtrAgvItem extends ExecutorItem {
             }
         }
 
-        BannerUtils.printConfig(log, "updatePosition", new String[]{
-            "logicX: " + logicX,
-            "logicY: " + logicY,
-            "direction: " + direction,
-            "finishTargetIndex: " + finishTargetIndex,
-            "runningDeviceSize:" + (this.runningDeviceTaskList == null ? "null" : this.runningDeviceTaskList.size()),
-            "planTask:" + (this.planTaskSequence == null ? "null" :
-                ("\n" + Joiner.on("\n").join((List) this.planTaskSequence.toPrettyMap().get("items")))
-            )
-        });
+        // BannerUtils.printConfig(log, "updatePosition", new String[]{
+        //     "logicX: " + logicX,
+        //     "logicY: " + logicY,
+        //     "direction: " + direction,
+        //     "finishTargetIndex: " + finishTargetIndex,
+        //     "runningDeviceSize:" + (this.runningDeviceTaskList == null ? "null" : this.runningDeviceTaskList.size()),
+        //     "planTask:" + (this.planTaskSequence == null ? "null" :
+        //         ("\n" + Joiner.on("\n").join((List) this.planTaskSequence.toPrettyMap().get("items")))
+        //     )
+        // });
 
         if (needCompute && this.runningDeviceTaskList.size() > 0) {
             int index = this.runningDeviceTaskList.size() - 1;

servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java

@@ -11,6 +11,7 @@ import com.google.common.collect.Lists;
 import com.google.common.collect.Maps;
 import com.google.common.collect.Sets;
 import com.yvan.event.AgvEventManager;
+import com.yvan.event.AgvEventType;
 import com.yvan.mqtt.FrontendMessagePushService;
 import com.yvan.redis.LccRedisService;
 import com.yvan.workbench.model.entity.LccProject;
@@ -121,6 +122,21 @@ public class LogisticsRuntime {
         this.envId = env.getEnvId();
         this.isVirtual = env.getIsVirtual();
         this.serverId = serverId;
+
+        this.setupEventHandle();
+    }
+
+    private void setupEventHandle() {
+        eventManager.subscribe((AgvEventType type, Object... args) -> {
+            ExecutorItem sender = (ExecutorItem) args[0];
+
+            String[] eventArgs = new String[args.length - 1];
+            for (int i = 1; i < args.length; i++) {
+                eventArgs[i - 1] = Conv.asString(args[i]);
+            }
+
+            BannerUtils.printConfig(log, this.projectUuid + "(" + this.envId + ") " + type + " AGV:" + sender.getId(), eventArgs);
+        });
     }
 
     /**