src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -348,7 +348,7 @@ } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) { //复位 TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1); trafficControlThread.cancelTrafficControl(shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo()); trafficControlThread.forceCancelTrafficControl(shuttleProtocol.getShuttleNo()); shuttleThread.setSyncTaskNo(0);//工作号清空 shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//任务状态-空闲 src/main/java/com/zy/asrs/utils/Utils.java
@@ -84,7 +84,7 @@ return null; } //获取除白名单外的指定楼层全部穿梭车xy坐标点 //获取穿梭车xy坐标点 public static int[] getShuttlePoint(Integer shuttleNo) { //获取穿梭车所在节点位置 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo); @@ -147,6 +147,34 @@ return list; } public static ShuttleThread searchShuttle(String locNo) { DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class); List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { //获取穿梭车所在节点位置 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } String currentLocNo = shuttleProtocol.getCurrentLocNo(); if (currentLocNo == null) { continue; } if (currentLocNo.equals(locNo)) { return shuttleThread; } } return null; } //检测楼层是否有可用穿梭车 public static boolean checkLevHasShuttle(Integer lev) { DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class); src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -202,10 +202,10 @@ lists = loadPathLock(lists, lev); } if(mapType.equals(NavigationMapType.TRAFFIC_CONTROL)) { //加载交通管制 lists = loadTrafficControl(lists, lev); } // if(mapType.equals(NavigationMapType.TRAFFIC_CONTROL)) { // //加载交通管制 // lists = loadTrafficControl(lists, lev); // } } //加载白名单节点 @@ -444,77 +444,6 @@ lists.set(row, list); } } // HashMap<String, Integer> deviceMap = trafficControlThread.getDeviceMap(); // if(deviceMap == null) { // throw new CoolException("get traffic control device map error"); // } // // for (Map.Entry<String, Integer> entry : deviceMap.entrySet()) { // String key = entry.getKey(); // Integer shuttleNo = entry.getValue(); // if (shuttleNo <= 0) { // continue; // } // // Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + shuttleNo); // if (object == null) { // continue; // } // // int taskNo = Integer.parseInt(String.valueOf(object)); // // Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo); // if (obj == null) { // continue; // } // // ShuttleRedisCommand redisCommand = null; // try { // redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class); // } catch (IOException e) { // throw new RuntimeException(e); // } // // if (redisCommand == null) { // continue; // } // // ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand(); // List<ShuttleCommand> commands = assignCommand.getCommands(); // // List<NavigateNode> controlLocList = new ArrayList<>(); // for (ShuttleCommand command : commands) { // if (command.getComplete()) { // continue; // } // // if (command.getMode() == ShuttleCommandModeType.MOVE.id) { // List<NavigateNode> nodes = command.getNodes(); // for (NavigateNode node : nodes) { // if(!controlLocList.contains(node)) { // controlLocList.add(node); // } // } // } // } // // for (NavigateNode node : controlLocList) { // int row = node.getX(); // int bay = node.getY(); // // List<MapNode> list = lists.get(row); // MapNode mapNode = list.get(bay); // // //节点设置成Disable // mapNode.setValue(MapNodeType.DISABLE.id); // // //更新list // list.set(bay, mapNode); // lists.set(row, list); // } // // } } catch (Exception e) { e.printStackTrace(); } src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -115,6 +115,7 @@ } assignCommand.setNodes(allNode);//当前任务所占用的节点list assignCommand.setMapTypes(mapTypes); //小车移动连续下发指令 boolean shuttleMoveCommandsContinuously = false; @@ -125,67 +126,6 @@ } } assignCommand.setShuttleMoveCommandsContinuously(shuttleMoveCommandsContinuously); return commands; } public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) { NavigateNode startNode = NavigatePositionConvert.locNoToNode(startLocNo); NavigateNode endNode = NavigatePositionConvert.locNoToNode(endLocNo); List<NavigateNode> unlockPath = new ArrayList<>(); unlockPath.add(startNode); unlockPath.add(endNode); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return null; } Integer shuttleNo = shuttleProtocol.getShuttleNo(); //所使用的路径进行锁定/解锁 boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(endLocNo), shuttleProtocol.getShuttleNo(), unlockPath, false);//所使用的路径进行解锁 if (!lockResult) { News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo); shuttleThread.offerSystemMsg("{} dash {} can't find unlock path!", startLocNo, endLocNo); return null;//解锁失败 } //获取小车移动速度 Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000); List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null); if (nodeList == null) { News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo); shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo); return null; } List<NavigateNode> allNode = new ArrayList<>(); for (NavigateNode node : nodeList) { allNode.add(node.clone()); } List<ShuttleCommand> commands = new ArrayList<>(); //获取分段路径 List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList); //将每一段路径分成command指令 for (List<NavigateNode> nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = navigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 //通过xy坐标小车二维码 String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); //通过xy坐标小车二维码 String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); //获取移动命令 ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes); command.setNodes(nodes);//将行走节点添加到每一步命令中 commands.add(command); } assignCommand.setNodes(allNode);//当前任务所占用的节点list return commands; }
@@ -16,14 +16,12 @@ import com.zy.common.model.NavigateNode; import com.zy.common.service.CommonService; import com.zy.common.utils.NavigateMapUtils; import com.zy.common.utils.NavigatePositionConvert; import com.zy.common.utils.RedisUtil; import com.zy.core.News; import com.zy.core.cache.SlaveConnection; import com.zy.core.dispatcher.ShuttleDispatchUtils; import com.zy.core.enums.*; import com.zy.core.model.CommandResponse; import com.zy.core.model.TrafficControlDataModel; import com.zy.core.model.command.ShuttleAssignCommand; import com.zy.core.model.command.ShuttleCommand; import com.zy.core.model.command.ShuttleRedisCommand; @@ -420,25 +418,8 @@ if (trafficControlThread == null) { return false; } TrafficControlDataModel trafficControlDataModel = trafficControlThread.queryTrafficControl(shuttleNo); if (trafficControlDataModel != null) { //有管制信息，进行检测 if (!trafficControlDataModel.getTaskNo().equals(shuttleProtocol.getTaskNo())) { return false;//任务不一致 } //检测是否到终点 List<NavigateNode> totalNodeList = trafficControlDataModel.getTotalNodeList(); NavigateNode trafficTargetNode = totalNodeList.get(totalNodeList.size() - 1); String trafficTargetLoc = Utils.getLocNo(trafficTargetNode.getX(), trafficTargetNode.getY(), trafficTargetNode.getZ()); //判断小车是否到终点 if(shuttleProtocol.getCurrentLocNo().equals(trafficTargetLoc)) { //上报交管 trafficControlThread.trafficReport(command.getNodesDeepCopy(), shuttleNo, shuttleProtocol.getTaskNo()); } } //上报交管 trafficControlThread.trafficReport(command.getNodesDeepCopy(), shuttleNo, shuttleProtocol.getTaskNo()); String currentLocNo = shuttleProtocol.getCurrentLocNo(); if (targetPoints.contains(Utils.getRow(currentLocNo) + "-" + Utils.getBay(currentLocNo))) { @@ -503,19 +484,12 @@ return false; } NavigateNode startNode = nodeList.get(0); Long linePartFlag = startNode.getLinePartFlag(); List<NavigateNode> totalNodeList = new ArrayList<>(); for (ShuttleCommand command : commands) { if (command.getMode() == ShuttleCommandModeType.MOVE.id) { NavigateNode node = command.getNodes().get(0); Long nodeLinePartFlag = node.getLinePartFlag(); if (nodeLinePartFlag.equals(linePartFlag)) { List<NavigateNode> deepCopy = command.getNodesDeepCopy(); if (deepCopy != null) { totalNodeList.addAll(deepCopy); } List<NavigateNode> deepCopy = command.getNodesDeepCopy(); if (deepCopy != null) { totalNodeList.addAll(deepCopy); } } } src/main/java/com/zy/core/enums/RedisKeyType.java
@@ -16,9 +16,11 @@ //小车下发指令索引 SHUTTLE_SEND_COMMAND_INDEX("shuttle_send_command_index_"), //小车重新规划路径频率 SHUTTLE_RESTART_CALC_PATH("shuttle_restart_calc_path_"), //任务堵塞可用设备地图 TASK_BLOCK_ENABLE_DEVICE_MAP("task_block_enable_device_map"), //交管信息 TRAFFIC_CONTROL_MAP("traffic_control_map"), //地图锁定节点 LOCK_MAP_NODES("lock_map_nodes_"), src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
@@ -1,6 +1,7 @@ package com.zy.core.model.command; import com.zy.common.model.NavigateNode; import com.zy.common.model.enums.NavigationMapType; import lombok.Data; import java.io.Serializable; @@ -77,6 +78,9 @@ */ private List<NavigateNode> nodes; //命令使用的地图类型 private List<NavigationMapType> mapTypes; //小车移动连续下发指令 private Boolean shuttleMoveCommandsContinuously;
@@ -22,7 +22,4 @@ //命令 private ShuttleAssignCommand assignCommand; //提升机安全锁定标记 private Boolean liftSecurityMk = false; } src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -76,6 +76,8 @@ JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol); boolean restartCalcPath(); //***************获取命令***************** ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes);//获取移动命令 src/main/java/com/zy/core/thread/TrafficControlThread.java
@@ -24,6 +24,8 @@ boolean cancelTrafficControl(Integer shuttleNo, Integer taskNo); boolean forceCancelTrafficControl(Integer shuttleNo); TrafficControlDataModel queryTrafficControl(Integer shuttleNo); List<TrafficControlDataModel> getAllTrafficControl(); src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -20,8 +20,11 @@ import com.zy.common.utils.NavigateMapData; import com.zy.common.utils.NavigatePositionConvert; import com.zy.common.utils.RedisUtil; import com.zy.common.utils.ShuttleOperaUtils; import com.zy.core.News; import com.zy.core.action.ShuttleAction; import com.zy.core.model.DeviceCommandMsgModel; import com.zy.core.model.command.ShuttleAssignCommand; import com.zy.core.utils.DeviceMsgUtils; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.*; @@ -852,6 +855,94 @@ } @Override public boolean restartCalcPath() { ConfigService configService = SpringUtils.getBean(ConfigService.class); if (configService == null) { return false; } ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class); if (shuttleAction == null) { return false; } ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class); if (shuttleOperaUtils == null) { return false; } ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class); if (objectMapper == null) { return false; } boolean trafficControlRestartCalcPath = false; Config trafficControlRestartCalcPathConfig = configService.selectOne(new EntityWrapper<Config>() .eq("code", "trafficControlRestartCalcPath") ); if(trafficControlRestartCalcPathConfig != null) { trafficControlRestartCalcPath = trafficControlRestartCalcPathConfig.getValue().equals("Y") ? true : false; } if (!trafficControlRestartCalcPath) { return false; } if (shuttleProtocol.getTaskNo() == 0) { return false; } if (!this.isDeviceIdle()) { return false; } Object object = redisUtil.get(RedisKeyType.SHUTTLE_RESTART_CALC_PATH.key + shuttleProtocol.getShuttleNo()); if (object != null) { return false; } Integer taskNo = shuttleProtocol.getTaskNo(); Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo); if (obj == null) { return false; } ShuttleRedisCommand redisCommand = null; try { redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class); } catch (IOException e) { throw new RuntimeException(e); } if (redisCommand == null) { return false; } ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand(); String locNo = assignCommand.getLocNo(); List<NavigationMapType> mapTypes = assignCommand.getMapTypes(); if (locNo == null) { return false; } if (mapTypes == null) { return false; } String currentLocNo = shuttleProtocol.getCurrentLocNo(); List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, mapTypes, assignCommand, this); if (commands == null) { return false; } assignCommand.setCommands(commands); //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); redisUtil.set(RedisKeyType.SHUTTLE_RESTART_CALC_PATH.key + shuttleProtocol.getShuttleNo(), true, 60); return true; } @Override public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) { NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class); NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo); src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java
@@ -33,6 +33,9 @@ private Long detectTime = System.currentTimeMillis(); private HashMap<String, Integer> deviceMap = null; private HashMap<Integer, HashMap<String, List<Integer>>> levNodesMap = null; private HashMap<Integer,Long> applyRecordsMap = new HashMap<>(); private HashMap<String, List<NavigateNode>> taskNodesMap = new HashMap<>(); private List<TrafficControlDataModel> trafficControlDataList = new ArrayList<>(); @@ -42,6 +45,12 @@ @Override public void run() { //从缓存恢复交管信息 Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_MAP.key); if(object != null) { trafficControlDataList = (List<TrafficControlDataModel>) object; } // List<Integer> shuttleNoList = new ArrayList<>(); // while (true) { // try { @@ -198,66 +207,66 @@ detecting = false; detectTime = System.currentTimeMillis(); //发布堵塞节点可用设备编号 redisUtil.set(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key, trafficControlDataList); // //发布堵塞节点可用设备编号 // redisUtil.set(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key, trafficControlDataList); } //分配堵塞节点可执行设备 public void findDeviceByBlockList(List<List<String>> allLocList, List<List<Integer>> blockNodes) { HashMap<String, Integer> map = new HashMap<>(); if (deviceMap == null) { Object object = redisUtil.get(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key); if (object != null) { map = (HashMap<String, Integer>) object; } } else { map = deviceMap; } HashMap<String, Integer> newMap = new HashMap<>(); for (int i = 0; i < blockNodes.size(); i++) { List<Integer> blockNode = blockNodes.get(i); List<String> locs = allLocList.get(i); String key = JSON.toJSONString(locs); Integer value = -1; if (map.containsKey(key)) { value = map.get(key); map.remove(key); if (value > 0) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, value); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } if (shuttleProtocol.getTaskNo() == 0) { value = searchDevice(locs, blockNode, newMap); } if (!shuttleProtocol.getTrafficControl()) { value = searchDevice(locs, blockNode, newMap); } }else { value = searchDevice(locs, blockNode, newMap); } } else { value = searchDevice(locs, blockNode, newMap); } newMap.put(key, value); } deviceMap = newMap; //发布堵塞节点可用设备编号 redisUtil.set(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key, newMap); } // //分配堵塞节点可执行设备 // public void findDeviceByBlockList(List<List<String>> allLocList, List<List<Integer>> blockNodes) { // HashMap<String, Integer> map = new HashMap<>(); // if (deviceMap == null) { // Object object = redisUtil.get(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key); // if (object != null) { // map = (HashMap<String, Integer>) object; // } // } else { // map = deviceMap; // } // // HashMap<String, Integer> newMap = new HashMap<>(); // // for (int i = 0; i < blockNodes.size(); i++) { // List<Integer> blockNode = blockNodes.get(i); // List<String> locs = allLocList.get(i); // // String key = JSON.toJSONString(locs); // // Integer value = -1; // if (map.containsKey(key)) { // value = map.get(key); // map.remove(key); // // if (value > 0) { // ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, value); // if (shuttleThread == null) { // continue; // } // // ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); // if (shuttleProtocol == null) { // continue; // } // // if (shuttleProtocol.getTaskNo() == 0) { // value = searchDevice(locs, blockNode, newMap); // } // // if (!shuttleProtocol.getTrafficControl()) { // value = searchDevice(locs, blockNode, newMap); // } // }else { // value = searchDevice(locs, blockNode, newMap); // } // } else { // value = searchDevice(locs, blockNode, newMap); // } // newMap.put(key, value); // } // // deviceMap = newMap; // //发布堵塞节点可用设备编号 // redisUtil.set(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key, newMap); // } public Integer searchDevice(List<String> locs, List<Integer> blockNode, HashMap<String, Integer> deviceMap) { NavigateUtils navigateUtils = null; @@ -434,8 +443,24 @@ @Override public synchronized boolean applyTrafficControl(List<NavigateNode> totalNodeList, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) { //发布堵塞节点可用设备编号 redisUtil.set(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key, trafficControlDataList); //更新交管信息 redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_MAP.key, trafficControlDataList); NavigateNode startNode = totalNodeList.get(0); List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, startNode.getZ()); int[] currentShuttlePoint = Utils.getShuttlePoint(shuttleNo); if(currentShuttlePoint == null) { return false; } String currentShuttleLoc = Utils.getLocNo(currentShuttlePoint[0], currentShuttlePoint[1], startNode.getZ()); List<String> shuttleLocList = new ArrayList<>(); for (int[] shuttlePoint : shuttlePoints) { String locNo = Utils.getLocNo(shuttlePoint[0], shuttlePoint[1], startNode.getZ()); shuttleLocList.add(locNo); } //检测车子是否存在管制 for (int i = 0; i < trafficControlDataList.size(); i++) { TrafficControlDataModel controlDataModel = trafficControlDataList.get(i); @@ -445,27 +470,14 @@ return false; } //任务总数量不一致 if (totalNodeList.size() != controlDataModel.getTotalNodeList().size()) { return false; } int startIdx = 0; int targetIdx = totalNodeList.size() - 1; NavigateNode applyStartNode = totalNodeList.get(startIdx); NavigateNode applyTargetNode = totalNodeList.get(targetIdx); NavigateNode controlStartNode = controlDataModel.getTotalNodeList().get(startIdx); NavigateNode controlTargetNode = controlDataModel.getTotalNodeList().get(targetIdx); //起点不同 if(!NavigatePositionConvert.equalsNode(applyStartNode, controlStartNode)) { return false; } //终点不同 if(!NavigatePositionConvert.equalsNode(applyTargetNode, controlTargetNode)) { return false; for (NavigateNode node : nodeList) { String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ()); if(shuttleLocList.contains(locNo)) { ShuttleThread shuttleThread = Utils.searchShuttle(locNo); if(shuttleThread != null) { shuttleThread.restartCalcPath(); } } } News.info("traffic running {},{}", shuttleNo, taskNo); @@ -473,30 +485,45 @@ } } NavigateNode startNode = totalNodeList.get(0); List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, startNode.getZ()); List<String> shuttleLocList = new ArrayList<>(); for (int[] shuttlePoint : shuttlePoints) { String locNo = Utils.getLocNo(shuttlePoint[0], shuttlePoint[1], startNode.getZ()); shuttleLocList.add(locNo); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo); if (shuttleThread == null) { return false; } if (!applyRecordsMap.containsKey(shuttleNo)) { applyRecordsMap.put(shuttleNo, System.currentTimeMillis()); } Long applyRecordTime = applyRecordsMap.get(shuttleNo); if ((System.currentTimeMillis() - applyRecordTime) > 1000 * 10) { shuttleThread.restartCalcPath(); } List<String> totalLocList = new ArrayList<>(); for (NavigateNode node : totalNodeList) { String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ()); if(shuttleLocList.contains(locNo)) { return false;//node has shuttle totalLocList.add(locNo); } //检测路径是否有小车 for (String loc : totalLocList) { if(shuttleLocList.contains(loc)) { return false;//node has shuttle } } //检测节点是否被使用 for (TrafficControlDataModel controlDataModel : trafficControlDataList) { List<NavigateNode> list = controlDataModel.getTotalNodeList(); for (NavigateNode node1 : list) { for (NavigateNode node2 : totalNodeList) { if (NavigatePositionConvert.equalsNode(node1, node2)) { return false; } for (int i = 0; i < list.size(); i++) { NavigateNode node = list.get(i); String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ()); if (i == 0 && currentShuttleLoc.equals(locNo)) { continue;//..todo wait watch problem } if(totalLocList.contains(locNo)) { return false; } } } @@ -508,20 +535,36 @@ model.setNodeList(nodeList); model.setTotalNodeList(totalNodeList); trafficControlDataList.add(model); applyRecordsMap.remove(shuttleNo); News.info("receipt traffic {},{}", shuttleNo, taskNo); return true; } @Override public boolean trafficReport(List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) { public synchronized boolean trafficReport(List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) { //检测车子是否存在管制 for (int i = 0; i < trafficControlDataList.size(); i++) { TrafficControlDataModel controlDataModel = trafficControlDataList.get(i); if(shuttleNo.equals(controlDataModel.getShuttleNo())) { if(controlDataModel.getTaskNo().equals(taskNo)) { List<NavigateNode> newTotalNodeList = new ArrayList<>(); List<NavigateNode> totalNodeList = controlDataModel.getTotalNodeList(); totalNodeList.removeAll(nodeList); controlDataModel.setTotalNodeList(totalNodeList); List<String> reportList = new ArrayList<>(); for (NavigateNode node : nodeList) { reportList.add(Utils.getLocNo(node.getX(), node.getY(), node.getZ())); } for (NavigateNode node : totalNodeList) { String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ()); if(reportList.contains(locNo)) { continue; } newTotalNodeList.add(node); } controlDataModel.setTotalNodeList(newTotalNodeList); trafficControlDataList.set(i, controlDataModel); return true; } @@ -546,6 +589,19 @@ } @Override public boolean forceCancelTrafficControl(Integer shuttleNo) { //检测车子是否存在管制 for (int i = 0; i < trafficControlDataList.size(); i++) { TrafficControlDataModel controlDataModel = trafficControlDataList.get(i); if(shuttleNo.equals(controlDataModel.getShuttleNo())) { trafficControlDataList.remove(i);//取消管制 return true; } } return false; } @Override public TrafficControlDataModel queryTrafficControl(Integer shuttleNo) { //检测车子是否存在管制 for (int i = 0; i < trafficControlDataList.size(); i++) {
