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Junjie

7 天以前 2c1e3b7b10c0d4afbf09a9151e132f1ee85b9c6f

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 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -498,7 +498,10 @@
                return false;
            }

            //判断小车是否到达货物库位
            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车未到达取货位置
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
                return false;
            }
@@ -1092,6 +1095,16 @@
                    continue;
                }

                WrkMast wrkMast1 = wrkMastService.selectShuttleWorking(shuttleProtocol.getShuttleNo());
                if (wrkMast1 != null) {
                    continue;
                }

                WrkMast wrkMast2 = wrkMastService.selectShuttleHasMoveWorking(shuttleProtocol.getShuttleNo());
                if (wrkMast2 != null) {
                    continue;
                }

                WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
                if (wrkMast != null) {//已有充电任务
                    continue;

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

@@ -203,8 +203,10 @@
            }
        }

        News.info("execute send command {},{}", shuttleNo, taskNo);
        // 下发命令
        CommandResponse response = write(command, shuttleNo);
        News.info("execute send command complete {},{}", shuttleNo, taskNo);

        //保存命令日志
        BasShuttleOpt basShuttleOpt = new BasShuttleOpt();
@@ -1158,7 +1160,7 @@
//        }
//    }

    private synchronized CommandResponse write(ShuttleCommand command, Integer shuttleNo) {
    private CommandResponse write(ShuttleCommand command, Integer shuttleNo) {
        CommandResponse response = new CommandResponse(false);
        if (null == command) {
            News.error("四向穿梭车写入命令为空");

 src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java

@@ -8,10 +8,12 @@
import com.zy.core.action.ShuttleAction;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.utils.TimeoutExecutor;
import org.springframework.scheduling.annotation.Scheduled;

import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.TimeUnit;

public class ShuttleExecuteScheduler implements Runnable {

@@ -69,7 +71,12 @@
                                //存在任务需要执行
                                long startTime = System.currentTimeMillis();
                                News.info("execute {},{}", deviceConfig.getDeviceNo(), taskNo);
                                boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo);
                                // 在循环中使用
                                boolean result = TimeoutExecutor.executeWithTimeout(
                                        () -> shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo),
                                        30,  // 30秒超时
                                        TimeUnit.SECONDS
                                );
                                Thread.sleep(100);
                                News.info("execute end {},{},{}", deviceConfig.getDeviceNo(), taskNo, System.currentTimeMillis() - startTime);
                            }

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

@@ -927,8 +927,11 @@
            return false;
        }

        List<NavigationMapType> restartCalcMapTypes = new ArrayList<>(mapTypes);
        restartCalcMapTypes.add(NavigationMapType.SHUTTLE);

        String currentLocNo = shuttleProtocol.getCurrentLocNo();
        List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, mapTypes, assignCommand, this);
        List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, restartCalcMapTypes, assignCommand, this);
        if (commands == null) {
            return false;
        }

 src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java

@@ -393,6 +393,7 @@
        }

        trafficControlDataList.remove(idx);//取消管制
        redisUtil.del(RedisKeyType.TRAFFIC_CONTROL_SUCCESS_APPLY.key + shuttleNo + "_" + taskNo);
        return true;
    }


 src/main/java/com/zy/core/utils/TimeoutExecutor.java

New file
@@ -0,0 +1,21 @@
package com.zy.core.utils;

import java.util.concurrent.*;

public class TimeoutExecutor {

    public static <T> T executeWithTimeout(Callable<T> task, long timeout, TimeUnit unit) throws Exception {
        ExecutorService executor = Executors.newSingleThreadExecutor();
        Future<T> future = executor.submit(task);

        try {
            return future.get(timeout, unit);
        } catch (TimeoutException e) {
            future.cancel(true); // 中断任务
            throw new TimeoutException("Task timed out");
        } finally {
            executor.shutdownNow();
        }
    }

}