#

Junjie

2023-09-20 f531a7a3ee28d76316ea8803a5be48168c520823

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

@@ -382,6 +382,23 @@
                //上一条任务未完成，禁止下发命令
                return false;
            }

            //判断是否为最后一条命令且命令执行完成，抛出等待确认状态
            NyShuttleHttpCommand endCommand = commands.get(commands.size() - 1);
            if (endCommand.getComplete()) {
                //删除redis
                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());

                if (!assignCommand.getCharge()) {
                    //对主线程抛出等待确认状态waiting
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
                }else {
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                }
                News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

                return false;//禁止再下发命令
            }
        }

        List<NavigateNode> nextNodes = null;//下一步命令行走路径
@@ -394,10 +411,10 @@
            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)) {
@@ -411,7 +428,9 @@

        //锁定路径，锁定当前路径和下一步路径
        List<NavigateNode> nodes = command.getNodes();
        nodes.addAll(nextNodes);
        if (nextNodes != null) {
            nodes.addAll(nextNodes);
        }
        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用

        //可执行命令
@@ -438,7 +457,8 @@
                    null,
                    null,
                    JSON.toJSONString(command),
                    null
                    null,
                    JSON.toJSONString(shuttleProtocol)
            );
            shuttleOptService.insert(opt);
        }
@@ -454,16 +474,21 @@
        }else {
            //已执行完成

            //删除redis
            redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());

            if (!assignCommand.getCharge()) {
                //对主线程抛出等待确认状态waiting
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
            }else {
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
            }
            News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
            commandStep++;
//            //最后一段命令为移动命令，则暂缓删除redis等待清除路径时一次性删除
//            //最后一段命令为不是移动命令，则删除redis
//            if (!command.getRequest().getBody().get("requestType").equals("move")) {
//                //删除redis
//                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
//            }
//
//            if (!assignCommand.getCharge()) {
//                //对主线程抛出等待确认状态waiting
//                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
//            }else {
//                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
//            }
//            News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
        }

        return true;
@@ -572,7 +597,9 @@
            if (basLift == null) {
                continue;
            }
            if (basLift.getPoint().equals(shuttleProtocol.getPoint())) {
            Integer liftX = basLift.getPoint$().getX();
            Integer liftY = basLift.getPoint$().getY();
            if (liftX.equals(shuttleProtocol.getPoint().getX()) && liftY.equals(shuttleProtocol.getPoint().getY())) {
                //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());
@@ -587,6 +614,8 @@
                    //提升机处于空闲，放行
                    return true;
                }
            }else {
                return true;//不在提升机内，放行
            }
        }
        return false;//默认不放行
@@ -600,9 +629,16 @@
        //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
        if (nextNodes == null) {
            if (checkPathIsAvailable) {
                return true;//可行走
            }
            return false;
        }else {
            boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
            if (checkPathIsAvailable && checkPathIsAvailable2) {
                return true;//可行走
            }
        }

        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();