#

Junjie

21 小时以前 946b8c5f52fd508890e65cd2c016c7f5174a0a35

#

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

@@ -9,6 +9,7 @@
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.ShuttleOperaUtils;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RedisKeyType;
@@ -35,6 +36,7 @@
    private HashMap<Integer, HashMap<String, List<Integer>>> levNodesMap = null;


    private HashMap<Integer,Long> pathIdleShuttleMap = new HashMap<>();
    private HashMap<Integer,Long> applyRecordsMap = new HashMap<>();
    private HashMap<String, List<NavigateNode>> taskNodesMap = new HashMap<>();
    private List<TrafficControlDataModel> trafficControlDataList = new ArrayList<>();
@@ -443,6 +445,11 @@

    @Override
    public synchronized boolean applyTrafficControl(List<NavigateNode> totalNodeList, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
        ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class);
        if (shuttleOperaUtils == null) {
            return false;
        }

        //更新交管信息
        redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_MAP.key, trafficControlDataList);

@@ -508,6 +515,30 @@
        //检测路径是否有小车
        for (String loc : totalLocList) {
            if(shuttleLocList.contains(loc)) {
                ShuttleThread pathShuttleThread = Utils.searchShuttle(loc);
                if (pathShuttleThread == null) {
                    return false;
                }

                ShuttleProtocol shuttleProtocol = pathShuttleThread.getStatus();
                if(shuttleProtocol == null) {
                    return false;
                }

                if (pathShuttleThread.isIdle()) {
                    if(pathIdleShuttleMap.containsKey(shuttleProtocol.getShuttleNo())) {
                        Long idleTime = pathIdleShuttleMap.get(shuttleProtocol.getShuttleNo());
                        if((System.currentTimeMillis() - idleTime) > 1000 * 10) {
                            //检测障碍物车
                            boolean checkObstacle = shuttleOperaUtils.checkObstacle(shuttleProtocol.getCurrentLocNo(), new ArrayList<Integer>() {{
                                add(shuttleNo);
                            }});
                            pathIdleShuttleMap.remove(shuttleProtocol.getShuttleNo());
                        }
                    }else {
                        pathIdleShuttleMap.put(shuttleProtocol.getShuttleNo(), System.currentTimeMillis());
                    }
                }
                return false;//node has shuttle
            }
        }