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Junjie

6 天以前 db32ffbad65906185ba768a3dc7364337473b1b2

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

@@ -386,6 +386,13 @@
                return false;
            }

            //检测是否存在移动任务
            WrkMast moveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
            if (moveWorking != null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车存在移动任务", wrkMast.getWrkNo());
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
@@ -492,6 +499,13 @@
                return false;
            }

            //检测是否存在移动任务
            WrkMast moveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
            if (moveWorking != null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车存在移动任务", wrkMast.getWrkNo());
                return false;
            }

            //检测障碍物车
            boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
                add(shuttleProtocol.getShuttleNo());
@@ -506,9 +520,10 @@
            assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
            assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
            assignCommand.setAuto(true);//自动模式
            assignCommand.setLocNo(wrkMast.getLocNo());

            //获取小车到输送站点行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.getDfxWithDevice(), assignCommand, shuttleThread);
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.DFX), assignCommand, shuttleThread);
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
@@ -1807,7 +1822,7 @@
            assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

            //获取小车到目标库位命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread);
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), assignCommand, shuttleThread);
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径计算失败

 src/main/java/com/zy/asrs/task/main/ShuttleTaskExecuteScheduler.java

@@ -12,7 +12,7 @@
    private ShuttleTaskUtils shuttleTaskUtils;

    @Scheduled(cron = "0/3 * * * * ? ")
    public void shuttleFinished() {
    public synchronized void shuttleFinished() {
        //四向穿梭车任务完成
        shuttleTaskUtils.shuttleFinished();
    }

 src/main/java/com/zy/asrs/utils/ShuttleTaskUtils.java

@@ -37,7 +37,7 @@
    /**
     * 四向穿梭车任务完成
     */
    public void shuttleFinished() {
    public synchronized void shuttleFinished() {
        try {
            List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                    .eq("device_type", String.valueOf(SlaveType.Shuttle)));

 src/main/java/com/zy/common/utils/NavigateMapUtils.java

@@ -96,7 +96,6 @@
                lockMap.remove(key);
            }
        }
        lockMap.putAll(lockMap);
        redisUtil.set(RedisKeyType.LOCK_MAP_NODES.key + lev, lockMap);
        return true;
    }

 src/main/java/com/zy/common/utils/ShuttleOperaUtils.java

@@ -500,7 +500,7 @@

    private boolean is_valid(int[][] map, int x, int y) {
        if (x < 0 || x >= map.length
                || y < 0 || y >= map[0].length) {
                || y < 0 || y >= map[1].length) {
            return false;
        }
        // 如果结点的位置小于0，则不合法

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

@@ -158,6 +158,11 @@

        //移动命令，锁定路径
        if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
            TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
            if (trafficControlThread == null) {
                return false;
            }

            List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);
            //申请管制
            boolean apply = applyTrafficControl(commands, nodes, shuttleNo, taskNo);
@@ -178,6 +183,7 @@
            if (!result) {
                News.error("{} device can't lock path!", shuttleNo);
                shuttleThread.offerSystemMsg("{} device can't lock path!", shuttleNo);
                trafficControlThread.trafficReportError(shuttleNo, taskNo);
                return false;//路径锁定失败
            }
        }
@@ -411,11 +417,11 @@
                return false;
            }
            if (targetPoints.contains(Utils.getRow(currentLocNo) + "-" + Utils.getBay(currentLocNo))) {
                command.setComplete(true);
                boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo(), nodes, false);//解锁路径
                if (!result) {
                    return false;//解锁失败
                }
                command.setComplete(true);
            }else {
                return false;
            }

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

@@ -22,6 +22,8 @@

    boolean trafficReport(List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo);

    boolean trafficReportError(Integer shuttleNo, Integer taskNo);

    boolean cancelTrafficControl(Integer shuttleNo, Integer taskNo);

    boolean forceCancelTrafficControl(Integer shuttleNo);

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

@@ -942,7 +942,7 @@
            }

            ShuttleCommand firstCommand = originCommands.get(0);
            ShuttleCommand endCommand = originCommands.get(commands.size() - 1);
            ShuttleCommand endCommand = originCommands.get(originCommands.size() - 1);

            if (firstCommand.getMode() != ShuttleCommandModeType.PALLET_LIFT.id) {
                return false;

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

@@ -36,6 +36,7 @@
    private HashMap<Integer, HashMap<String, List<Integer>>> levNodesMap = null;


    private HashMap<Integer,Long> shuttleReportErrorMap = new HashMap<>();
    private HashMap<Integer,Long> pathIdleShuttleMap = new HashMap<>();
    private HashMap<Integer,Long> applyRecordsMap = new HashMap<>();
    private HashMap<String, List<NavigateNode>> taskNodesMap = new HashMap<>();
@@ -597,6 +598,7 @@

                    controlDataModel.setTotalNodeList(newTotalNodeList);
                    trafficControlDataList.set(i, controlDataModel);
                    shuttleReportErrorMap.remove(shuttleNo);
                    return true;
                }
            }
@@ -605,6 +607,25 @@
    }

    @Override
    public boolean trafficReportError(Integer shuttleNo, Integer taskNo) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return false;
        }

        if(shuttleReportErrorMap.containsKey(shuttleNo)) {
            Long errorTime = shuttleReportErrorMap.get(shuttleNo);
            if((System.currentTimeMillis() - errorTime) > 1000 * 10) {
                shuttleReportErrorMap.remove(shuttleNo);
                shuttleThread.restartCalcPath();
            }
        }else {
            shuttleReportErrorMap.put(shuttleNo, System.currentTimeMillis());
        }
        return true;
    }

    @Override
    public synchronized boolean cancelTrafficControl(Integer shuttleNo, Integer taskNo) {
        //检测车子是否存在管制
        for (int i = 0; i < trafficControlDataList.size(); i++) {