#

Junjie

8 天以前 728ad81fa10d2879654c5f9ae4314db94eafb865

 src/main/java/com/zy/core/action/ShuttleAction.java

@@ -22,6 +22,7 @@
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.TrafficControlDataModel;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
@@ -86,7 +87,7 @@
        return false;
    }

    public synchronized boolean executeWork(Integer shuttleNo, Integer taskNo) {
    public boolean executeWork(Integer shuttleNo, Integer taskNo) {
        Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
        if (obj == null) {
            return false;
@@ -158,9 +159,16 @@

        //移动命令，锁定路径
        if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
            TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
            if (trafficControlThread == null) {
                return false;
            }

            List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);
            //申请管制
            boolean apply = applyTrafficControl(commands, nodes, shuttleNo, taskNo);
            applyTrafficControl(commands, nodes, shuttleNo, taskNo);
            //查询管制
            boolean apply = queryTrafficControl(shuttleNo, taskNo);
            if(!apply){
                return false;//申请失败
            }
@@ -178,6 +186,7 @@
            if (!result) {
                News.error("{} device can't lock path!", shuttleNo);
                shuttleThread.offerSystemMsg("{} device can't lock path!", shuttleNo);
                trafficControlThread.trafficReportError(shuttleNo, taskNo);
                return false;//路径锁定失败
            }
        }
@@ -288,21 +297,23 @@
                    //直线段数据标识
                    Long linePartFlag = startNode.getLinePartFlag();

                    //取指令
                    ShuttleCommand currentCommand = commands.get(commandStep);
                    if(currentCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
                        return 0;
                    }
                    if(commandStep < commands.size()){
                        //取指令
                        ShuttleCommand currentCommand = commands.get(commandStep);
                        if(currentCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
                            return 0;
                        }

                    List<NavigateNode> currentNodes = currentCommand.getNodes();
                    NavigateNode currentStartNode = currentNodes.get(0);
                    if(!currentStartNode.getLinePartAllowGo()) {//直线段部分，允许直接行走
                        return 0;
                    }
                        List<NavigateNode> currentNodes = currentCommand.getNodes();
                        NavigateNode currentStartNode = currentNodes.get(0);
                        if(!currentStartNode.getLinePartAllowGo()) {//直线段部分，允许直接行走
                            return 0;
                        }

                    if(currentStartNode.getLinePartFlag().equals(linePartFlag)) {
                        //数据标识一致
                        return 2;//允许小车移动连续下发指令
                        if(currentStartNode.getLinePartFlag().equals(linePartFlag)) {
                            //数据标识一致
                            return 2;//允许小车移动连续下发指令
                        }
                    }
                }

@@ -411,11 +422,11 @@
                return false;
            }
            if (targetPoints.contains(Utils.getRow(currentLocNo) + "-" + Utils.getBay(currentLocNo))) {
                command.setComplete(true);
                boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo(), nodes, false);//解锁路径
                if (!result) {
                    return false;//解锁失败
                }
                command.setComplete(true);
            }else {
                return false;
            }
@@ -484,6 +495,21 @@
        return trafficControlThread.applyTrafficControl(totalNodeList, nodeList, shuttleNo, taskNo);
    }

    //查询是否申请管制成功
    public boolean queryTrafficControl(Integer shuttleNo, Integer taskNo) {
        TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
        if (trafficControlThread == null) {
            return false;
        }

        TrafficControlDataModel trafficControlDataModel = trafficControlThread.queryTrafficControl(shuttleNo, taskNo);
        if (trafficControlDataModel == null) {
            return false;
        }

        return true;
    }

//    /**
//     * 搜索小车路径是否存在冲突
//     * 0:未检测 1:检测无冲突 2:检测有冲突