#

Junjie

1 天以前 aaea873695cd27a28ca9fec7e79a34db31e7527c

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

@@ -121,9 +121,9 @@

        News.info("[RCS Debug] Execute check command {},{}", shuttleNo, taskNo);
        //检测命令
        int checked = checkCommand(redisCommand, shuttleNo);
        ShuttleCheckCommandResultType checked = checkCommand(redisCommand, shuttleNo);
        News.info("[RCS Debug] Execute check command complete {},{}", shuttleNo, taskNo);
        if (checked == 0) {
        if (checked.equals(ShuttleCheckCommandResultType.FAIL)) {
            return false;
        }

@@ -140,7 +140,7 @@

        //取出命令
        ShuttleCommand command = null;
        if (checked == 1) {
        if (checked.equals(ShuttleCheckCommandResultType.SUCCESS)) {
            //非连续指令，需要检测上一条指令是否完成
            if (commandStep > 0) {
                ShuttleCommand lastCommand = commands.get(commandStep - 1);
@@ -150,7 +150,7 @@
            }

            command = commands.get(commandStep);
        } else if (checked == 2) {
        } else if (checked.equals(ShuttleCheckCommandResultType.SUCCESS_GO)) {
            //连续指令直接取数据
            command = commands.get(commandStep);
        }
@@ -185,7 +185,7 @@
                return false;//申请失败
            }

            if (checked == 2) {
            if (checked.equals(ShuttleCheckCommandResultType.SUCCESS_GO)) {
                nodes.remove(0);
            }

@@ -240,31 +240,31 @@
     * 检测命令
     * 0:未通过 1:通过 2:通过且可提前下发指令
     */
    private int checkCommand(ShuttleRedisCommand redisCommand, Integer shuttleNo) {
    private ShuttleCheckCommandResultType checkCommand(ShuttleRedisCommand redisCommand, Integer shuttleNo) {
        TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
        if(trafficControlThread == null){
            return 0;
            return ShuttleCheckCommandResultType.FAIL;
        }

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return 0;
            return ShuttleCheckCommandResultType.FAIL;
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return 0;
            return ShuttleCheckCommandResultType.FAIL;
        }

        int commandStep = redisCommand.getCommandStep();
        if (commandStep == 0) {
            return 1;//第一条命令无需检测
            return ShuttleCheckCommandResultType.SUCCESS;//第一条命令无需检测
        }

        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<ShuttleCommand> commands = assignCommand.getCommands();
        if (commands.isEmpty()) {
            return 0;
            return ShuttleCheckCommandResultType.FAIL;
        }

        boolean supportContinuously = false;
@@ -291,18 +291,18 @@
                //小车移动连续下发指令
                if (assignCommand.getShuttleMoveCommandsContinuously()) {
                    if (!supportContinuously) {
                        return 0;
                        return ShuttleCheckCommandResultType.FAIL;
                    }

                    //移动指令
                    if(lastCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
                        return 0;
                        return ShuttleCheckCommandResultType.FAIL;
                    }

                    List<NavigateNode> nodes = lastCommand.getNodes();
                    NavigateNode startNode = nodes.get(0);
                    if (!startNode.getLinePartAllowGo()) {//直线段部分，允许直接行走
                        return 0;
                        return ShuttleCheckCommandResultType.FAIL;
                    }

                    //直线段数据标识
@@ -312,23 +312,23 @@
                        //取指令
                        ShuttleCommand currentCommand = commands.get(commandStep);
                        if(currentCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
                            return 0;
                            return ShuttleCheckCommandResultType.FAIL;
                        }

                        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;
                            return ShuttleCheckCommandResultType.FAIL;
                        }

                        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
                            return ShuttleCheckCommandResultType.SUCCESS_GO;//允许小车移动连续下发指令
                        }
                    }
                }

                return 0;
                return ShuttleCheckCommandResultType.FAIL;
            }
        }

@@ -371,10 +371,10 @@

            //删除redis
            redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo());
            return 0;//禁止再下发命令
            return ShuttleCheckCommandResultType.FAIL;//禁止再下发命令
        }

        return 1;
        return ShuttleCheckCommandResultType.SUCCESS;
    }

    //检测更新命令完成