任务相关

src/main/java/com/hivekion/room/bean/AbtParentTask.java

@@ -14,7 +14,6 @@ import com.hivekion.enums.WsCmdTypeEnum;
 import com.hivekion.room.RoomManager;
 import com.hivekion.room.func.TaskAction;
 import com.hivekion.scenario.entity.ScenarioTask;
-import com.hivekion.statistic.bean.StatisticBean;
 import java.time.Duration;
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -46,6 +45,7 @@ import org.springframework.web.reactive.function.client.WebClient;
  */
 @Slf4j
 public abstract class AbtParentTask implements TaskAction {
+
   /**
    * 开始点坐标
    */
@@ -125,7 +125,7 @@ public abstract class AbtParentTask implements TaskAction {
   }
 
 
-  protected  void initPath(){
+  protected void initPath() {
     try {
 
       String url = SpringUtil.getBean(Environment.class).getProperty("path.planning.url");
@@ -195,7 +195,8 @@ public abstract class AbtParentTask implements TaskAction {
       log.error("error::", e);
     }
   }
-  protected void updatePath(double speed) {
+
+  protected void updatePath(double speed, TaskAction action) {
 
     ScheduledExecutorService schedule = Executors.newScheduledThreadPool(
         1);
@@ -264,6 +265,9 @@ public abstract class AbtParentTask implements TaskAction {
                     scenarioTask.getScenarioId(), dataMap));
 
           } else {
+            if (action != null) {
+              action.doSomeThing();
+            }
             //完成路径
             Global.sendCmdInfoQueue.add(
                 ResponseCmdInfo.create(WsCmdTypeEnum.PATH_FINISHED.getCode(), roomId,

src/main/java/com/hivekion/room/bean/MoveRootTask.java

@@ -75,7 +75,7 @@ public class MoveRootTask extends AbtParentTask implements TaskAction {
 
     initEnv(); //初始化环境
     initPath(); //初始化路径
-    updatePath(SPEED); //更新路径
+    updatePath(SPEED,null); //更新路径
     fuelConsumption();//油品消耗
   }