#

Junjie

14 小时以前 119778beae8103791feefb5955f60c2b3d4d757e

 src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java

@@ -1,21 +1,30 @@
package com.zy.core.thread.impl;

import com.core.common.SpringUtils;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.ShuttleOperaUtils;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.TrafficControlDataModel;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.param.OperateTrafficControlParam;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.thread.ShuttleThread;
import com.zy.core.thread.TrafficControlThread;
import org.springframework.scheduling.annotation.Async;

import java.io.IOException;
import java.util.*;
import java.util.stream.Collectors;

@@ -78,7 +87,11 @@
    @Override
    public synchronized boolean processApply(TrafficControlDataModel applyData) {
        ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class);
        if (shuttleOperaUtils == null) {
        WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
        ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
        if (shuttleOperaUtils == null || wrkMastService == null || objectMapper == null || navigateUtils == null || shuttleDispatchUtils == null) {
            return false;
        }

@@ -186,6 +199,66 @@
                    }else {
                        pathIdleShuttleMap.put(shuttleProtocol.getShuttleNo(), System.currentTimeMillis());
                    }
                }else {
                    Object cancelTaskLock = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK_LOCK.key + shuttleProtocol.getShuttleNo());
                    if(cancelTaskLock != null) {
                        return false;
                    }

                    Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
                    if (obj == null) {
                        return false;
                    }

                    ShuttleRedisCommand redisCommand = null;
                    try {
                        redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
                    } catch (IOException e) {
                        throw new RuntimeException(e);
                    }

                    if (redisCommand == null) {
                        return false;
                    }

                    if (redisCommand.getCommandStep() != 0) {
                        return false;
                    }

                    long recordTime = System.currentTimeMillis();
                    if (pathShuttleThread.isDeviceIdle()) {
                        Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK.key + shuttleProtocol.getShuttleNo());
                        if(object == null) {
                            redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK.key + shuttleProtocol.getShuttleNo(), recordTime, 60 * 3);
                        }else {
                            recordTime = (long) object;
                        }
                    }else {
                        redisUtil.del(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK.key + shuttleProtocol.getShuttleNo());
                        return false;
                    }

                    if(System.currentTimeMillis() - recordTime > 1000 * 15) {
                        WrkMast wrkMast = wrkMastService.selectShuttleHasMoveWorking(shuttleProtocol.getShuttleNo());
                        if(wrkMast != null) {
                            if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
                                if (shuttleProtocol.getTaskNo().equals(wrkMast.getWrkNo())) {
                                    //计算近点位置
                                    String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 2);
                                    if (endLocation == null) {
                                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，障碍物小车避障近点位置计算失败", wrkMast.getWrkNo());
                                        return false;
                                    }

                                    pathShuttleThread.setSyncTaskNo(0);
                                    pathShuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                                    wrkMastService.deleteById(wrkMast);
                                    shuttleDispatchUtils.dispatchShuttle(null, endLocation, shuttleProtocol.getShuttleNo());//调度小车到货物近点
                                    redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK_LOCK.key + shuttleProtocol.getShuttleNo(), "cancelLock", 60);
                                }
                            }
                        }
                    }
                }
                return false;//node has shuttle
            }