#

Junjie

5 天以前 c7b3edb405149d76e0e71d7e754bd46c42b05eb3

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

@@ -69,11 +69,6 @@
            return false;
        }

        //清空下发索引
        Set<String> keys = redisUtil.searchKeys(RedisKeyType.SHUTTLE_SEND_COMMAND_INDEX.key + shuttleNo);
        for (String key : keys) {
            redisUtil.del(key);
        }
        //Clear Traffic Control
        trafficControlThread.forceCancelTrafficControl(shuttleNo);

@@ -214,9 +209,6 @@

        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);

        //存储下发指令索引
        redisUtil.set(RedisKeyType.SHUTTLE_SEND_COMMAND_INDEX.key + shuttleNo + "_" + taskNo + "_" + commandStep, commandStep);

        commandStep += 1;
        //更新redis数据
        redisCommand.setCommandStep(commandStep);
@@ -257,69 +249,60 @@
            return 0;
        }

        //上一条指令
        String searchKey = RedisKeyType.SHUTTLE_SEND_COMMAND_INDEX.key + shuttleNo + "_" + redisCommand.getWrkNo() + "_";
        Set<String> keys = redisUtil.searchKeys(searchKey);
        TreeSet<Integer> treeSet = new TreeSet<>();
        for (String key : keys) {
            String[] split = key.split(searchKey);
            treeSet.add(Integer.parseInt(split[1]));
        boolean supportContinuously = false;
        int checkIdx = commandStep - 2;
        if (checkIdx < 0) {
            checkIdx = commandStep - 1;
        }
        if (treeSet.isEmpty()) {
            return 1;
        ShuttleCommand last2Command = commands.get(checkIdx);
        if(last2Command.getComplete()){
            supportContinuously = true;
            checkIdx = commandStep - 1;
        }

        String firstKey = searchKey + treeSet.first();
        Integer lastCommandIdx = (Integer) redisUtil.get(firstKey);
        ShuttleCommand lastCommand = commands.get(lastCommandIdx);
        ShuttleCommand lastCommand = commands.get(checkIdx);
        if (!lastCommand.getComplete()) {
            //检测更新命令完成
            boolean checked = updateCommandComplete(lastCommandIdx, commands, shuttleNo);
            boolean checked = updateCommandComplete(checkIdx, commands, shuttleNo);
            if (checked) {
                //删除索引
                redisUtil.del(firstKey);

                // 更新redis数据
                redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
            }else {
                //小车移动连续下发指令
                if (assignCommand.getShuttleMoveCommandsContinuously()) {
                    if (treeSet.size() <= 1) {
                        if(commandStep >= commands.size()) {
                            return 0;
                        }
                    if (!supportContinuously) {
                        return 0;
                    }

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

                        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;
                        }
                    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;
                    }

                        //直线段数据标识
                        Long linePartFlag = startNode.getLinePartFlag();
                    //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;
                        }
                    //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
                    }
                }

@@ -424,6 +407,9 @@
            trafficControlThread.trafficReport(command.getNodesDeepCopy(), shuttleNo, shuttleProtocol.getTaskNo());

            String currentLocNo = shuttleProtocol.getCurrentLocNo();
            if (currentLocNo == null) {
                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