#map latest test

Junjie

2023-12-18 05f8bdf7e09849c1db885b6c996ad18280d130b3

 src/main/java/com/zy/core/thread/NyShuttleThread.java

@@ -113,12 +113,6 @@

    private void readStatus() {
        try {
            if (null == shuttleProtocol) {
                shuttleProtocol = new NyShuttleProtocol();
                shuttleProtocol.setShuttleNo(slave.getId().shortValue());
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            }

            //----------读取四向穿梭车状态-----------
            NyShuttleHttpCommand readStatusCommand = NyHttpUtils.getReadStatusCommand(slave.getId());
            JSONObject jsonObject = NyHttpUtils.requestCommand(socket, readStatusCommand);
@@ -247,6 +241,7 @@
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
//                    log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                }
//                log.warn(JSON.toJSONString(shuttleProtocol));//输出小车状态
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -269,6 +264,11 @@
            socket.setSoTimeout(60000);
            socket.setKeepAlive(true);
            this.socket = socket;
            if (null == shuttleProtocol) {
                shuttleProtocol = new NyShuttleProtocol();
                shuttleProtocol.setShuttleNo(slave.getId().shortValue());
            }
            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            log.info(MessageFormat.format("【{0}】四向穿梭车Socket链接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        } catch (IOException e) {
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket链接失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
@@ -342,6 +342,9 @@
        if (result == null) {
            return false;//请求失败
        }

        shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间

        return true;
    }

@@ -405,7 +408,7 @@
                    //上一条指令的目标位置和当前小车位置相同，则认定上一条任务完成
                    lastCommand.setComplete(true);
                    //解锁锁定路径，上一条路径
                    List<NavigateNode> nodes = lastCommand.getNodes();
                    List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(lastCommand.getNodes()), NavigateNode.class);//进行深度copy
//                    //解锁当前路径
//                    if (command != null && command.getNodes() != null) {
//                        nodes.addAll(command.getNodes());