From 1fc63d734bc6be4efe6681d90dfc89a453846073 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=9D=8E=E7=8E=89=E4=B8=9C?= <129883742+liyudong2018@users.noreply.github.com> Date: Thu, 18 Sep 2025 13:51:58 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E7=9B=B8=E5=85=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/com/hivekion/room/RoomManager.java | 8 ++ .../com/hivekion/room/bean/AbtParentTask.java | 22 ++-- .../com/hivekion/room/bean/MoveRootTask.java | 121 ++++++++++-------- .../java/com/hivekion/room/bean/Room.java | 32 +++-- 4 files changed, 106 insertions(+), 77 deletions(-) diff --git a/src/main/java/com/hivekion/room/RoomManager.java b/src/main/java/com/hivekion/room/RoomManager.java index 14137e8..5bc96fb 100644 --- a/src/main/java/com/hivekion/room/RoomManager.java +++ b/src/main/java/com/hivekion/room/RoomManager.java @@ -5,6 +5,8 @@ import com.hivekion.room.bean.Room; import com.hivekion.room.func.TaskAction; import java.util.Map; import java.util.concurrent.ConcurrentHashMap; +import java.util.concurrent.ScheduledExecutorService; +import java.util.concurrent.ScheduledFuture; /** * [类的简要说明] @@ -60,4 +62,10 @@ public class RoomManager { } return 0; } + public static void addFuture(ScheduledExecutorService future,String roomId){ + Room room = roomsMap.get(roomId); + if (room != null) { + room.addTaskReference(future); + } + } } diff --git a/src/main/java/com/hivekion/room/bean/AbtParentTask.java b/src/main/java/com/hivekion/room/bean/AbtParentTask.java index 853336b..f05aee2 100644 --- a/src/main/java/com/hivekion/room/bean/AbtParentTask.java +++ b/src/main/java/com/hivekion/room/bean/AbtParentTask.java @@ -1,18 +1,14 @@ package com.hivekion.room.bean; -import com.hivekion.Global; +import com.hivekion.room.RoomManager; import com.hivekion.room.func.TaskAction; -import com.hivekion.scenario.bean.ScenarioWsParam; import com.hivekion.scenario.entity.ScenarioTask; -import java.util.concurrent.Executors; import java.util.concurrent.LinkedBlockingQueue; import java.util.concurrent.ScheduledExecutorService; -import java.util.concurrent.ScheduledFuture; import java.util.concurrent.ThreadFactory; import java.util.concurrent.ThreadPoolExecutor; import java.util.concurrent.TimeUnit; import java.util.concurrent.atomic.AtomicInteger; -import java.util.concurrent.atomic.AtomicLong; import org.springframework.web.reactive.function.client.WebClient; /** @@ -28,7 +24,6 @@ import org.springframework.web.reactive.function.client.WebClient; public abstract class AbtParentTask implements TaskAction { - //任务数据 protected final ScenarioTask scenarioTask; //房间ID @@ -52,10 +47,10 @@ public abstract class AbtParentTask implements TaskAction { } - - - - + public void addScheduledExecutorServiceRefenceToRoom( + ScheduledExecutorService scheduledExecutorService) { + RoomManager.addFuture(scheduledExecutorService, this.roomId); + } @Override public void doSomeThing() { @@ -71,9 +66,10 @@ public abstract class AbtParentTask implements TaskAction { public String getType() { return scenarioTask.getTaskType(); } - - - + //获取房间的持续时间 + public long getDuringTime() { + return RoomManager.getRoomDuringTime(this.roomId); + } } diff --git a/src/main/java/com/hivekion/room/bean/MoveRootTask.java b/src/main/java/com/hivekion/room/bean/MoveRootTask.java index 04230f0..c270dc7 100644 --- a/src/main/java/com/hivekion/room/bean/MoveRootTask.java +++ b/src/main/java/com/hivekion/room/bean/MoveRootTask.java @@ -13,7 +13,7 @@ import java.util.Map; import java.util.TreeMap; import java.util.concurrent.Executors; import java.util.concurrent.ScheduledExecutorService; -import java.util.concurrent.ScheduledFuture; +import java.util.concurrent.TimeUnit; import lombok.extern.slf4j.Slf4j; import org.springframework.core.env.Environment; @@ -29,70 +29,87 @@ import org.springframework.core.env.Environment; @Slf4j public class MoveRootTask extends AbtParentTask implements TaskAction { - protected final ScheduledExecutorService schedule = Executors.newScheduledThreadPool( - 1); - protected ScheduledFuture scheduledFuture; - private final double SPEED = 170; - private double accumulatedDistance = 0; + + private final double SPEED = 170;//速度 + private double accumulatedDistance = 0;//累计距离 + private final Map distanceInfoMap = new TreeMap();//距离和坐标点对应关系 + private Double beforeLng = null;//上一次经度 + private Double beforeLat = null; //上一次纬度 public MoveRootTask(ScenarioTask scenarioTask, String roomId) { super(scenarioTask, roomId); } - private final Map distanceInfoMap = new TreeMap(); @Override public void doSomeThing() { log.info("move task running"); - //累计距离 - - String url = SpringUtil.getBean(Environment.class).getProperty("path.planning.url"); - String params = url + "?" - + "profile=car" - + "&point=" + scenarioTask.getFromLat() + "," - + scenarioTask.getFromLng() - + "&point=" + scenarioTask.getToLat() + "," - + scenarioTask.getToLng() - + "points_encoded=false" - + "&algorithm=alternative_route&alternative_route.max_paths=3"; - String result = webClient.get().uri(params) - .retrieve() - .bodyToMono(String.class) - .block(); - JSONObject pointJson = JSON.parseObject(result); - //获取路径点 - if (pointJson != null) { - JSONObject pointsObj = pointJson.getJSONArray("paths").getJSONObject(0) - .getJSONObject("points"); - //推送路径任务 - Global.sendCmdInfoQueue.add( - ResponseCmdInfo.create("path_init", roomId, scenarioTask.getScenarioId(), pointsObj)); - JSONArray coordinates = pointsObj.getJSONArray("coordinates"); - Double beforeLng = null; - Double beforeLat = null; - for (int i = 0; i < coordinates.size(); i++) { - JSONArray coordinate = coordinates.getJSONArray(i); - Double lng = coordinate.getDouble(0); - Double lat = coordinate.getDouble(1); - if (beforeLng == null && beforeLat == null) { - distanceInfoMap.put((double) 0, lng + "," + lat); - } else { - double distance = MultiPointGeoPosition.haversine(beforeLat, beforeLng, lng, lat); - distanceInfoMap.put(distance, lng + "," + lat); - } - beforeLng = lng; - beforeLat = lat; - - } - } - - + initPath(); //初始化路径 + updatePath(); //更新路径 } + /** + * 初始化路径 + */ + private void initPath() { + try { + beforeLng = Double.parseDouble(scenarioTask.getFromLng()); + beforeLat = Double.parseDouble(scenarioTask.getFromLat()); + //累计距离 + String url = SpringUtil.getBean(Environment.class).getProperty("path.planning.url"); + String params = url + "?" + + "profile=car" + + "&point=" + scenarioTask.getFromLat() + "," + + scenarioTask.getFromLng() + + "&point=" + scenarioTask.getToLat() + "," + + scenarioTask.getToLng() + + "&points_encoded=false" + + "&algorithm=alternative_route&alternative_route.max_paths=3"; + log.info("params::{}", params); + String result = webClient.get().uri(params) + .retrieve() + .bodyToMono(String.class) + .block(); + log.info("result:{}", result); + JSONObject pointJson = JSON.parseObject(result); + //获取路径点 + if (pointJson != null) { + JSONObject pointsObj = pointJson.getJSONArray("paths").getJSONObject(0) + .getJSONObject("points"); + + //推送路径任务 + Global.sendCmdInfoQueue.add( + ResponseCmdInfo.create("path_init", roomId, scenarioTask.getScenarioId(), pointsObj)); + + JSONArray coordinates = pointsObj.getJSONArray("coordinates"); + + for (int i = 0; i < coordinates.size(); i++) { + JSONArray coordinate = coordinates.getJSONArray(i); + Double lng = coordinate.getDouble(0); + Double lat = coordinate.getDouble(1); + double distance = MultiPointGeoPosition.haversine(beforeLat, beforeLng, lng, lat); + distanceInfoMap.put(distance, lng + "," + lat); + beforeLng = lng; + beforeLat = lat; + + } + } + } catch (Exception e) { + log.error("error::", e); + } + } + + private void updatePath() { + + ScheduledExecutorService schedule = Executors.newScheduledThreadPool( + 1); + schedule.scheduleWithFixedDelay(() -> { + }, 0, 1, TimeUnit.SECONDS); - - + //房间统一管理定时器；房间关闭后，定时器销毁 + addScheduledExecutorServiceRefenceToRoom(schedule); + } } diff --git a/src/main/java/com/hivekion/room/bean/Room.java b/src/main/java/com/hivekion/room/bean/Room.java index f7200de..5233e2f 100644 --- a/src/main/java/com/hivekion/room/bean/Room.java +++ b/src/main/java/com/hivekion/room/bean/Room.java @@ -56,6 +56,8 @@ public class Room implements AutoCloseable { private NavigableMap> actionMap = new ConcurrentSkipListMap<>(); //日期格式化 private DateTimeFormatter df = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"); + //房间中关联的任务管理器 + private Map futures = new ConcurrentHashMap<>(); //线程池 private final ExecutorService actionExecutor = new ThreadPoolExecutor( @@ -79,7 +81,6 @@ public class Room implements AutoCloseable { private int mag = 1; - /** * 启动 * @@ -112,6 +113,7 @@ public class Room implements AutoCloseable { public long getDuringTime() { return duringTime.get(); } + public long getTotalTime() { return totalTime.get(); } @@ -120,8 +122,9 @@ public class Room implements AutoCloseable { private void startTask() { if (future == null || future.isCancelled()) { future = scheduler.scheduleAtFixedRate(() -> { - ScenarioWsParam magValue = Global.roomParamMap.get(this.scenario.getId() + "_" + this.roomId); - if(magValue!=null){ + ScenarioWsParam magValue = Global.roomParamMap.get( + this.scenario.getId() + "_" + this.roomId); + if (magValue != null) { this.mag = magValue.getMag(); } @@ -130,11 +133,11 @@ public class Room implements AutoCloseable { sendRemainTime((totalTime.get() - curTime)); NavigableMap> actions = actionMap.headMap(curTime, true); - if (!actions.isEmpty() ) { + if (!actions.isEmpty()) { actions.forEach((key, action) -> { - action.forEach((taskAction, task) -> { - actionExecutor.submit(task::doSomeThing); - }); + action.forEach((taskAction, task) -> { + actionExecutor.submit(task::doSomeThing); + }); }); actions.clear(); @@ -170,14 +173,19 @@ public class Room implements AutoCloseable { private void sendRemainTime(long remainTime) { - Map timeMap = new HashMap<>(); - timeMap.put("update_time_str",utils.formatSeconds(remainTime)); - timeMap.put("remain_time",remainTime); - timeMap.put("during_time",duringTime.get()); - timeMap.put("current_time",df.format(this.scenario.getStartTime().plusSeconds(duringTime.get()))); + Map timeMap = new HashMap<>(); + timeMap.put("update_time_str", utils.formatSeconds(remainTime)); + timeMap.put("remain_time", remainTime); + timeMap.put("during_time", duringTime.get()); + timeMap.put("current_time", + df.format(this.scenario.getStartTime().plusSeconds(duringTime.get()))); Global.sendCmdInfoQueue.add( ResponseCmdInfo.create("update_time", this.roomId, this.scenario.getId(), timeMap)); } + + public void addTaskReference(ScheduledExecutorService scheduledExecutorService) { + futures.put(IdUtils.simpleUUID(), scheduledExecutorService); + } }