11 changed files with 600 additions and 479 deletions
@ -1,10 +0,0 @@ |
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package com.galaxis.rcs.common.enums; |
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public enum AgvEventType { |
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OFFLINE, ONLINE, FREE, |
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PLAN_COMPLETE, PLAN_ACCEPT, PLAN_CANCEL, |
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PLAN_PAUSE, PLAN_RESUME, |
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DEVICE_TASK_COMPLETE, DEVICE_TASK_EXCEPTION, |
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POS_CHANGED, DIRECTION_CHANGED, |
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LOW_BATTERY, STUCK |
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} |
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@ -1,66 +0,0 @@ |
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package com.galaxis.rcs.ptr; |
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import com.galaxis.rcs.common.enums.AgvEventType; |
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import com.yvan.logisticsModel.LogisticsRuntime; |
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import lombok.extern.slf4j.Slf4j; |
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import java.util.List; |
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import java.util.Map; |
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import java.util.concurrent.*; |
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@Slf4j |
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public class AgvEventManager { |
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private final Map<AgvEventType, List<AgvEventListener>> listeners = new ConcurrentHashMap<>(); |
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private final Map<String, ScheduledFuture<?>> stuckMonitors = new ConcurrentHashMap<>(); |
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private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(4); |
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private final LogisticsRuntime runtime; |
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public AgvEventManager(LogisticsRuntime runtime) { |
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this.runtime = runtime; |
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} |
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public void registerListener(AgvEventType type, AgvEventListener listener) { |
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listeners.computeIfAbsent(type, k -> new CopyOnWriteArrayList<>()).add(listener); |
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} |
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public void unregisterListener(AgvEventType type, AgvEventListener listener) { |
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List<AgvEventListener> list = listeners.get(type); |
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if (list != null) { |
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list.remove(listener); |
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} |
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} |
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public void fireEvent(AgvEventType type, Object... args) { |
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List<AgvEventListener> list = listeners.get(type); |
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if (list != null) { |
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for (AgvEventListener listener : list) { |
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try { |
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listener.onEvent(type, args); |
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} catch (Exception e) { |
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log.error("Error handling event {}", type, e); |
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} |
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} |
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} |
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} |
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public void monitorMovement(String agvId, PosDirection startPos, int delayOfSeconds) { |
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// 取消现有的监控
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cancelStuckMonitor(agvId); |
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ScheduledFuture<?> future = scheduler.schedule(() -> { |
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PtrAgvItem agv = (PtrAgvItem) this.runtime.executorItemMap.get(agvId); |
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if (agv != null && agv.isSamePosition(startPos)) { |
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fireEvent(AgvEventType.STUCK, agv, delayOfSeconds); |
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} |
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}, delayOfSeconds, TimeUnit.SECONDS); |
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stuckMonitors.put(agvId, future); |
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} |
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public void cancelStuckMonitor(String agvId) { |
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ScheduledFuture<?> future = stuckMonitors.remove(agvId); |
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if (future != null) { |
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future.cancel(false); |
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} |
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} |
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} |
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@ -1,6 +1,4 @@ |
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package com.galaxis.rcs.ptr; |
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import com.galaxis.rcs.common.enums.AgvEventType; |
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package com.yvan.event; |
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public interface AgvEventListener { |
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void onEvent(AgvEventType type, Object... args); |
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@ -0,0 +1,82 @@ |
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package com.yvan.event; |
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public enum AgvEventType { |
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/** |
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* 设备离线 |
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*/ |
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OFFLINE, |
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/** |
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* 设备上线 |
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*/ |
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ONLINE, |
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/** |
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* 设备阻挡 |
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*/ |
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BLOCKED, |
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/** |
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* 设备阻挡恢复 |
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*/ |
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BLOCKED_RECOVER, |
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/** |
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* 设备空闲 |
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*/ |
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FREE, |
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/** |
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* 规划任务序列全部完成 |
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* (ExecutorItem sender) |
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*/ |
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PLAN_TASK_SEQUENCE_COMPLETE, |
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/** |
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* 某一个规划任务被完成 |
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* (ExecutorItem sender, PlanTaskSequence taskSequence, RcsTaskPlan taskPlan) |
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*/ |
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PLAN_TASK_COMPLETE, |
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/** |
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* 规划任务异常 |
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*/ |
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PLAN_TASK_EXCEPTION, |
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/** |
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* 规划任务已接受 |
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* (ExecutorItem sender, PlanTaskSequence taskSequence) |
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*/ |
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PLAN_TASK_SEQUENCE_ACCEPT, |
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/** |
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* 规划任务已取消 |
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* (ExecutorItem sender) |
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*/ |
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PLAN_TASK_SEQUENCE_CANCEL, |
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/** |
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* 规划任务已暂停 |
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* (ExecutorItem sender) |
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*/ |
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PLAN_TASK_SEQUENCE_PAUSE, |
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/** |
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* 规划任务已恢复 |
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* (ExecutorItem sender) |
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*/ |
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PLAN_TASK_SEQUENCE_RESUME, |
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/** |
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* 设备任务已完成 |
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* (ExecutorItem sender, PtrAgvDeviceTask deviceTask) |
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*/ |
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DEVICE_TASK_COMPLETE, |
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/** |
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* 设备任务异常 |
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*/ |
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DEVICE_TASK_EXCEPTION, |
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/** |
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* 设备位置改变 |
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* (ExecutorItem sender, PosDirection newPosDirection, PosDirection originPosDirection) |
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*/ |
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POS_CHANGED, |
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/** |
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* 设备姿态改变 |
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* (ExecutorItem sender, PosDirection newPosDirection, PosDirection originPosDirection) |
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*/ |
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DIRECTION_CHANGED, |
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/** |
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* 设备低电量 |
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* (ExecutorItem sender) |
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*/ |
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LOW_BATTERY, |
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} |
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@ -0,0 +1,24 @@ |
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package com.yvan.event; |
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import java.util.Set; |
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import java.util.concurrent.CopyOnWriteArraySet; |
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public class EventManager { |
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private final Set<AgvEventListener> eventListeners = new CopyOnWriteArraySet<>(); |
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public void fireEvent(AgvEventType type, Object... args) { |
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for (AgvEventListener listener : eventListeners) { |
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listener.onEvent(type, args); |
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} |
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} |
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// 事件监听管理
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public void subscribe(AgvEventListener listener) { |
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eventListeners.add(listener); |
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} |
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public void unsubscribe(AgvEventListener listener) { |
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eventListeners.remove(listener); |
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} |
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} |
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@ -0,0 +1,114 @@ |
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package com.yvan.state; |
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import org.clever.core.mapper.JacksonMapper; |
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import java.util.ArrayList; |
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import java.util.List; |
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import java.util.Objects; |
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import java.util.concurrent.Executors; |
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import java.util.concurrent.ScheduledExecutorService; |
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import java.util.concurrent.ScheduledFuture; |
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import java.util.concurrent.TimeUnit; |
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import java.util.function.Consumer; |
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import java.util.function.Supplier; |
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/** |
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* VariableMonitor<T> 类用于周期性检查某个变量的值是否发生变化。 |
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* 如果发生变化，就触发回调通知所有监听器。 |
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* <p> |
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* 本实现使用 Jackson 序列化对象为 JSON 字符串进行比较，适用于： |
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* - Map |
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* - List |
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* - Set |
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* - 自定义实体类 |
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* - 嵌套结构 |
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* <p> |
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* 并自动防止循环引用问题。 |
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* |
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* @param <T> 被监控变量的类型 |
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*/ |
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public class VariableMonitor<T> { |
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// 提供当前变量值的方法
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private final Supplier<T> provider; |
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// 轮询间隔时间（毫秒）
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private final long intervalMillis; |
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// 定时任务执行器
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private ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor(); |
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// 当前调度的任务对象
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private ScheduledFuture<?> future; |
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// 上一次变量的 JSON 表示
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private String lastJson; |
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// 存储所有的监听器
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private final List<Consumer<T>> listeners = new ArrayList<>(); |
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public VariableMonitor(Supplier<T> provider, long intervalMillis) { |
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this.provider = provider; |
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this.intervalMillis = intervalMillis; |
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this.lastJson = JacksonMapper.getInstance().toJson(provider.get()); |
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} |
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/** |
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* 启动定时轮询任务 |
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*/ |
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public void start() { |
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future = scheduler.scheduleAtFixedRate(() -> { |
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T currentValue = provider.get(); |
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String currentJson; |
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currentJson = JacksonMapper.getInstance().toJson(currentValue); |
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if (!Objects.equals(lastJson, currentJson)) { |
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notifyListeners(currentValue); |
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lastJson = currentJson; |
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} |
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}, 0, intervalMillis, TimeUnit.MILLISECONDS); |
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} |
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/** |
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* 停止定时任务 |
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*/ |
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public void stop() { |
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if (future != null) { |
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future.cancel(false); |
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} |
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scheduler.shutdownNow(); |
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} |
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/** |
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* 添加一个监听器 |
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* |
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* @param listener 回调函数，接收新值作为参数 |
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*/ |
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public void addListener(Consumer<T> listener) { |
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listeners.add(listener); |
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} |
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/** |
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* 移除一个监听器 |
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* |
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* @param listener 要移除的监听器 |
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*/ |
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public void removeListener(Consumer<T> listener) { |
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listeners.remove(listener); |
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} |
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/** |
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* 通知所有监听器变量发生了变化 |
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* |
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* @param newValue 新的变量值 |
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*/ |
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private void notifyListeners(T newValue) { |
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for (Consumer<T> listener : listeners) { |
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try { |
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listener.accept(newValue); |
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} catch (Exception e) { |
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System.err.println("监听器执行出错: " + e.getMessage()); |
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} |
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} |
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} |
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} |
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