提升机代码，四向穿梭车线程优化

Junjie

2023-03-31 87c4efe93e6fe31a9c989b4aa5cc0c8f559b845d

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

@@ -10,7 +10,6 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.mapper.BasShuttleMapper;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.common.model.NavigateNode;
@@ -168,8 +167,11 @@
                    shuttleProtocol.setPakMk(true);
                }

                //四向穿梭车空闲、有任务且标记为true，需要执行任务的下一条指令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getPakMk()) {
                //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.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getPakMk()
                        && shuttleProtocol.getAssignCommand() != null) {
                    //执行下一步指令
                    executeWork(shuttleProtocol.getAssignCommand());
                }
@@ -347,6 +349,9 @@
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();

        if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
                || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
            //入库或出库模式，计算路径
        //计算路径
        List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), assignCommand.getTaskMode().intValue());
        if (calc != null) {
@@ -362,6 +367,7 @@
                throw new Exception("未能找到运行路径");
            }
        }
        }

        //四向穿梭车号
        map.put("shuttle_no", assignCommand.getShuttleNo());
@@ -373,6 +379,7 @@
        map.put("assignCommand", assignCommand);
        shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
        shuttleProtocol.setAssignCommand(assignCommand);
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        //执行下发任务
@@ -385,7 +392,14 @@
        if (assignCommand == null) {
            return false;
        }

        //将标记置为false(防止重发)
        shuttleProtocol.setPakMk(false);

        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        if (o == null) {
            return false;
        }
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
@@ -453,6 +467,8 @@
                shuttleProtocol.setTaskNo((short) 0);
                //标记复位
                shuttleProtocol.setPakMk(true);
                //任务指令清零
                shuttleProtocol.setAssignCommand(null);
                break;
            default:
        }
@@ -464,9 +480,6 @@
            return false;
        } else {
            News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

            //将标记置为false(防止重发)
            shuttleProtocol.setPakMk(false);

            //判断数据是否执行完成
            if (commandStep < size - 1) {
@@ -491,20 +504,25 @@
                            null,
                            null,
                            null,
                            JSON.toJSONString(command)
                            JSON.toJSONString(assignCommand)
                    );
                    shuttleOptService.insert(opt);
                }
                //删除redis
                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

                if (!assignCommand.getAuto()) {
                    //手动模式不抛出等待状态，直接复位
                    News.info("四向穿梭车手动任务执行完成，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }else {
                //对主线程抛出等待确认状态waiting
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);

                News.info("四向穿梭车任务执行完成等待确认中，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
            }

        }

        }
        return true;
    }