From 09cb60c8bcbb4f7371e8b692da9af00c5d4fc538 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 01 八月 2023 15:22:55 +0800
Subject: [PATCH] 小车行走路径锁定方案，走一步锁两步，走完即解锁
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 15 +++++++
src/main/java/com/zy/core/thread/NyShuttleThread.java | 48 +++++++++++++++++++++++-
2 files changed, 61 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 950116e..e0a730d 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -244,6 +244,21 @@
return allDistance;
}
+ /**
+ * 妫�娴嬭矾寰勬槸鍚﹀彲鐢�(鍙蛋)
+ */
+ public static boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev) {
+ NavigateSolution solution = new NavigateSolution(NavigationMapType.DFX.id, lev, null, Utils.getShuttlePoints(shuttleNo, lev));//鑾峰彇鏃犵櫧鍚嶅崟鍦板浘(璇ュ湴鍥惧寘鍚皬杞﹀潗鏍�)
+ int[][] map = solution.map;
+ for (NavigateNode node : path) {
+ int value = map[node.getX()][node.getY()];
+ if (value != 0 && value != 3) {
+ return false;
+ }
+ }
+ return true;
+ }
+
public static void main(String[] args) {
//璁＄畻璺緞
List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null);
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index ef2c24b..ddd71bb 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -7,6 +7,7 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.*;
import com.zy.core.News;
@@ -311,8 +312,42 @@
if (commands.size() == 0) {
return false;
}
+
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
//鍙栧嚭鍛戒护
- NyShuttleHttpCommand command = commands.get(commandStep);
+ NyShuttleHttpCommand command = commands.get(commandStep);//褰撳墠鍛戒护
+ if (commandStep != 0) {
+ //鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀畬鎴�
+ NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
+ String requestType = lastCommand.getRequest().getBody().get("requestType").toString();
+ if (requestType.equals("move") || requestType.equals("intoLift") || requestType.equals("outLift")) {
+ //绉诲姩鍛戒护銆佸嚭鍏ユ彁鍗囨満鍛戒护
+ NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(lastCommand.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
+ if (shuttleProtocol.getPoint().equals(target)) {
+ //涓婁竴鏉℃寚浠ょ殑鐩爣浣嶇疆鍜屽綋鍓嶅皬杞︿綅缃浉鍚岋紝鍒欒瀹氫笂涓�鏉′换鍔″畬鎴�
+ lastCommand.setComplete(true);
+ //瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰勫拰褰撳墠璺緞
+ List<NavigateNode> nodes = lastCommand.getNodes();
+ nodes.addAll(command.getNodes());
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ }
+ }else {
+ lastCommand.setComplete(true);//鍏朵粬鍛戒护榛樿璁や负瀹屾垚
+ }
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+
+ if (!lastCommand.getComplete()) {
+ //涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
+ return false;
+ }
+ }
+
+ List<NavigateNode> nextNodes = null;//涓嬩竴姝ュ懡浠よ璧拌矾寰�
+ if (commandStep + 1 < commands.size()) {
+ NyShuttleHttpCommand nextCommand = commands.get(commandStep + 1);//涓嬩竴姝ュ懡浠�
+ nextNodes = nextCommand.getNodes();//涓嬩竴姝ュ懡浠よ璧拌矾寰�
+ }
if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
@@ -324,7 +359,16 @@
}
//妫�鏌ヨ矾寰勬槸鍚﹀彲琛岃蛋(妫�鏌ヨ矾寰勯攣瀹氱姸鎬侊紝妫�娴嬭矾寰勬槸鍚︽湁鍏朵粬灏忚溅)
-
+ //妫�娴嬪綋鍓嶈璧拌矾寰勶紝鍜屼笅涓�姝ヨ矾寰�
+ boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(command.getNodes(), shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ if (!checkPathIsAvailable && !checkPathIsAvailable2) {
+ return false;
+ }
+ //閿佸畾璺緞锛岄攣瀹氬綋鍓嶈矾寰勫拰涓嬩竴姝ヨ矾寰�
+ List<NavigateNode> nodes = command.getNodes();
+ nodes.addAll(nextNodes);
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
//鍙墽琛屽懡浠�
if (!write(command)) {
--
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