#输送线读取

Junjie

2023-12-08 ff2b6e2329ae2c5d3fede2f9413170fd6e87c46c

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

@@ -10,7 +10,6 @@

import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.NyShuttleOperaResult;
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
import com.zy.core.News;
@@ -29,7 +28,6 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import javax.swing.*;
import java.io.IOException;
import java.net.Socket;
import java.text.MessageFormat;
@@ -115,12 +113,6 @@

    private void readStatus() {
        try {
            if (null == shuttleProtocol) {
                shuttleProtocol = new NyShuttleProtocol();
                shuttleProtocol.setShuttleNo(slave.getId().shortValue());
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            }

            //----------读取四向穿梭车状态-----------
            NyShuttleHttpCommand readStatusCommand = NyHttpUtils.getReadStatusCommand(slave.getId());
            JSONObject jsonObject = NyHttpUtils.requestCommand(socket, readStatusCommand);
@@ -249,6 +241,7 @@
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
//                    log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                }
//                log.warn(JSON.toJSONString(shuttleProtocol));//输出小车状态
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -271,6 +264,11 @@
            socket.setSoTimeout(60000);
            socket.setKeepAlive(true);
            this.socket = socket;
            if (null == shuttleProtocol) {
                shuttleProtocol = new NyShuttleProtocol();
                shuttleProtocol.setShuttleNo(slave.getId().shortValue());
            }
            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            log.info(MessageFormat.format("【{0}】四向穿梭车Socket链接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        } catch (IOException e) {
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket链接失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
@@ -358,7 +356,7 @@
        shuttleProtocol.setAssignCommand(assignCommand);
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        //任务数据保存到redis
        redisUtil.set("shuttle_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        redisUtil.set(RedisKeyType.SHUTTLE.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        //执行下发任务
        executeWork(assignCommand.getTaskNo());
    }
@@ -374,7 +372,7 @@
        WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
        WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
        if (o == null) {
            return false;
        }
@@ -407,7 +405,7 @@
                    //上一条指令的目标位置和当前小车位置相同，则认定上一条任务完成
                    lastCommand.setComplete(true);
                    //解锁锁定路径，上一条路径
                    List<NavigateNode> nodes = lastCommand.getNodes();
                    List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(lastCommand.getNodes()), NavigateNode.class);//进行深度copy
//                    //解锁当前路径
//                    if (command != null && command.getNodes() != null) {
//                        nodes.addAll(command.getNodes());
@@ -429,7 +427,7 @@
                lastCommand.setComplete(true);//其他命令默认认为完成
            }
            //任务数据保存到redis
            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));

            if (!lastCommand.getComplete()) {
                //上一条任务未完成，禁止下发命令
@@ -440,7 +438,7 @@
            NyShuttleHttpCommand endCommand = commands.get(commands.size() - 1);
            if (endCommand.getComplete()) {
                //删除redis
                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
                redisUtil.del(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo());

                if (!assignCommand.getCharge()) {
                    //对主线程抛出等待确认状态waiting
@@ -534,7 +532,7 @@
        //更新redis数据
        redisCommand.setCommandStep(commandStep);
        //任务数据保存到redis
        redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
        redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));

        return true;
    }
@@ -546,7 +544,7 @@
            return false;
        }

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
        if (o == null) {
            return false;
        }
@@ -630,7 +628,7 @@
            return false;
        }

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
        if (o == null) {
            return false;
        }
@@ -716,7 +714,7 @@
//            assignCommand.setCommands(commands);
//            redisCommand.setAssignCommand(assignCommand);
//            //任务数据保存到redis
//            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
//            redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
//            return false;//当前不可行走，等待下一次执行走新路径
//        }