#

Junjie

2023-09-04 3f48e38eeaf31f85ec8b68489c8079800ca65e0f

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

@@ -10,6 +10,7 @@

import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.NyShuttleOperaResult;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
@@ -17,17 +18,18 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.NyShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.io.IOException;
import java.net.Socket;
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
@@ -43,6 +45,7 @@
    private ShuttleSlave slave;
    private NyShuttleProtocol shuttleProtocol;
    private RedisUtil redisUtil;
    private Socket socket;

    public NyShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
        this.slave = slave;
@@ -84,6 +87,10 @@

    private void read() {
        try {
            if (this.socket == null || !this.socket.isConnected()) {
                //链接断开重新链接
                this.connect();
            }
            readStatus();
            //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
            if (shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
@@ -108,7 +115,7 @@

            //----------读取四向穿梭车状态-----------
            NyShuttleHttpCommand readStatusCommand = NyHttpUtils.getReadStatusCommand(slave.getId());
            JSONObject jsonObject = NyHttpUtils.requestCommand(readStatusCommand);
            JSONObject jsonObject = NyHttpUtils.requestCommand(socket, readStatusCommand);
            if (jsonObject == null) {
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            }else {
@@ -159,7 +166,7 @@
                    errCode.add(Integer.parseInt(o.toString()));
                }
                //故障码
                shuttleProtocol.setErrCode(errCode);
                shuttleProtocol.setErrCode(errCode.get(0));
                //总里程数
                shuttleProtocol.setStatusSum(jsonObject.getObject("statusSum", NyShuttleProtocol.StatusSumClass.class));
                //非自动状态时间计时
@@ -242,6 +249,14 @@

    @Override
    public boolean connect() {
        try {
            Socket socket = new Socket(slave.getIp(),slave.getPort());
            socket.setSoTimeout(60000);
            socket.setKeepAlive(true);
            this.socket = socket;
        } 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()));
        }
        return true;
    }

@@ -268,7 +283,7 @@
        }

        //发出请求
        JSONObject result = NyHttpUtils.requestCommand(command);
        JSONObject result = NyHttpUtils.requestCommand(socket, command);
        if (result == null) {
            return false;//请求失败
        }
@@ -299,15 +314,16 @@
            return false;
        }

        WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
        WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }

        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
        int commandStep = redisCommand.getCommandStep();
        if (commands.size() == 0) {
@@ -317,59 +333,62 @@
        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
        //取出命令
        NyShuttleHttpCommand command = commands.get(commandStep);//当前命令
        if (commandStep != 0) {
            //判断上一条指令是否完成
            NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
            String requestType = lastCommand.getRequest().getBody().get("requestType").toString();
            if (requestType.equals("move") || requestType.equals("intoLift") || requestType.equals("outLift")) {
                //移动命令、出入提升机命令
                NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(lastCommand.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
                if (shuttleProtocol.getPoint().equals(target)) {
                    //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，上一条路径和当前路径
                    List<NavigateNode> nodes = lastCommand.getNodes();
                    nodes.addAll(command.getNodes());
                    navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
                }
            }else {
                lastCommand.setComplete(true);//其他命令默认认为完成
            }
            //任务数据保存到redis
            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));

            if (!lastCommand.getComplete()) {
                //上一条任务未完成，禁止下发命令
                return false;
            }
        }

        List<NavigateNode> nextNodes = null;//下一步命令行走路径
        if (commandStep + 1 < commands.size()) {
            NyShuttleHttpCommand nextCommand = commands.get(commandStep + 1);//下一步命令
            nextNodes = nextCommand.getNodes();//下一步命令行走路径
        }

        if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
            return false;//小车状态忙，禁止执行命令
        }

        //检测小车是否要进提升机，如需要进提升机则调度提升机
        if (!checkLiftStation(wrkNo)) {
            return false;
        }

        //检查路径是否可行走(检查路径锁定状态，检测路径是否有其他小车)
        //检测当前行走路径，和下一步路径
        boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(command.getNodes(), shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
        boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
        if (!checkPathIsAvailable && !checkPathIsAvailable2) {
            return false;
        }
        //锁定路径，锁定当前路径和下一步路径
        List<NavigateNode> nodes = command.getNodes();
        nodes.addAll(nextNodes);
        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用
//        if (commandStep != 0) {
//            //判断上一条指令是否完成
//            NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
//            String requestType = lastCommand.getRequest().getBody().get("requestType").toString();
//            if (requestType.equals("move") || requestType.equals("intoLift") || requestType.equals("outLift")) {
//                //移动命令、出入提升机命令
//                NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(lastCommand.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
//                if (shuttleProtocol.getPoint().equals(target)) {
//                    //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，上一条路径和当前路径
//                    List<NavigateNode> nodes = lastCommand.getNodes();
//                    nodes.addAll(command.getNodes());
//                    navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
//                }
//            }else {
//                lastCommand.setComplete(true);//其他命令默认认为完成
//            }
//            //任务数据保存到redis
//            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
//
//            if (!lastCommand.getComplete()) {
//                //上一条任务未完成，禁止下发命令
//                return false;
//            }
//        }
//
//        List<NavigateNode> nextNodes = null;//下一步命令行走路径
//        if (commandStep + 1 < commands.size()) {
//            NyShuttleHttpCommand nextCommand = commands.get(commandStep + 1);//下一步命令
//            nextNodes = nextCommand.getNodes();//下一步命令行走路径
//        }
//
//        if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
//            return false;//小车状态忙，禁止执行命令
//        }
//
//        //检测小车是否要进提升机，如需要进提升机则调度提升机
//        if (!checkLiftStation(wrkNo)) {
//            return false;
//        }
//
//        //检测穿梭车是否在提升机内
//        if (!checkShuttleInTheLift(wrkNo)) {
//            return false;
//        }
//
//        //检测路径是否可行走
//        if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
//            return false;
//        }
//
//        //锁定路径，锁定当前路径和下一步路径
//        List<NavigateNode> nodes = command.getNodes();
//        nodes.addAll(nextNodes);
//        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用

        //可执行命令
        if (!write(command)) {
@@ -438,6 +457,8 @@
            return false;
        }

        WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);

        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        //当前步序
        int commandStep = redisCommand.getCommandStep();
@@ -480,7 +501,121 @@
            return true;//提升机达到小车楼层，放行
        }

        //搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
        WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
        if (wrkMast1 != null && wrkMast1.getWrkNo() != wrkNo.intValue()) {
            return false;
        }

        //提升机未到达小车楼层，呼叫提升机
        //获取提升机命令
        NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, null, basDevp.getDevNo(), wrkNo.intValue());
        ArrayList<NyLiftCommand> liftCommands = new ArrayList<>();
        liftCommands.add(liftCommand);

        //提交到线程去工作
        LiftAssignCommand assignCommand = new LiftAssignCommand();
        assignCommand.setCommands(liftCommands);
        assignCommand.setLiftNo(liftProtocol.getLiftNo());
        assignCommand.setTaskNo(wrkNo);
        assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());

        //下发任务
        MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));

        return false;//默认不放行
    }

    /**
     * 检测穿梭车是否在提升机内
     * 如穿梭车在提升机内，必须等待提升机空闲才可执行穿梭车命令
     */
    private boolean checkShuttleInTheLift(Short wrkNo) {
        //读取redis数据
        if (wrkNo == null) {
            return false;
        }

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }

        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
        for (LiftSlave liftSlave : slaveProperties.getLift()) {
            BasLift basLift = liftService.selectById(liftSlave.getId());
            if (basLift == null) {
                continue;
            }
            if (basLift.getPoint().equals(shuttleProtocol.getPoint())) {
                //小车在提升机内
                //判断提升机是否空闲
                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
                if (liftThread == null) {
                    return false;
                }
                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                if (liftProtocol == null) {
                    return false;
                }
                if (liftProtocol.isIdle()) {
                    //提升机处于空闲，放行
                    return true;
                }
            }
        }
        return false;//默认不放行
    }

    /**
     * 检测路径是否可行走
     * 如果路径为目标库位，但不可行走，系统将尝试重新计算路径
     */
    private boolean checkPath(List<NavigateNode> currentNodes, List<NavigateNode> nextNodes, ShuttleRedisCommand redisCommand) {
        //检测路径是否可行走(检查路径锁定状态，检测路径是否有其他小车)
        //检测当前行走路径，和下一步路径
        boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
        boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
        if (checkPathIsAvailable && checkPathIsAvailable2) {
            return true;//可行走
        }

        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        NavigateNode currentTarget = currentNodes.get(currentNodes.size() - 1);
        String currentLocNo = NavigatePositionConvert.nodeToLocNo(currentTarget);
        NavigateNode nextTarget = nextNodes.get(nextNodes.size() - 1);
        String nextLocNo = NavigatePositionConvert.nodeToLocNo(nextTarget);
        if (assignCommand.getLocNo().equals(currentLocNo) || assignCommand.getLocNo().equals(nextLocNo)) {
            //当前路径最后一个节点是目标库位，进行路径检测，如果不可行走，重新计算路径
            //不可行走，重新计算路径
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getShuttleNo().intValue(), shuttleProtocol.getTaskNo(), shuttleProtocol.getCurrentLocNo(), assignCommand.getLocNo());
            if (result == null) {
                return false;//路径计算失败，不可行走
            }

            List<NyShuttleHttpCommand> newCommands = result.getCommands();//新路径

            //当前步序
            int commandStep = redisCommand.getCommandStep();
            List<NyShuttleHttpCommand> commands = assignCommand.getCommands();

            commands.remove(commandStep);//移除当前步序指令
            if (assignCommand.getLocNo().equals(currentLocNo)) {
                //当前路径，需要再多移除下一步指令
                commands.remove(commandStep + 1);
            }

            //将新路径添加进指令集合
            commands.addAll(commandStep, newCommands);
            assignCommand.setCommands(commands);
            redisCommand.setAssignCommand(assignCommand);
            //任务数据保存到redis
            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            return false;//当前不可行走，等待下一次执行走新路径
        }

        return false;//不可行走
    }

}