From 0df6e7bb33c9f6a18f026a500776b00cbf2ae62c Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 24 十二月 2024 09:48:06 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 97 +++++++++++++++++++++++++-----------------------
1 files changed, 50 insertions(+), 47 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index 5fcce03..f7dc6fe 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -172,6 +172,8 @@
shuttleProtocol.setStatusSum(jsonObject.getObject("statusSum", NyShuttleProtocol.StatusSumClass.class));
//闈炶嚜鍔ㄧ姸鎬佹椂闂磋鏃�
shuttleProtocol.setErrTime(jsonObject.getInteger("errTime"));
+ //鏈�杩戜竴娆″湪绾挎椂闂�
+ shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
//灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓篺alse
if (shuttleProtocol.getFree() == 0) {
@@ -187,56 +189,13 @@
basShuttle.setShuttleNo(slave.getId());
shuttleService.insert(basShuttle);
}
- //宸ヤ綔妯″紡
- basShuttle.setWorkingMode(shuttleProtocol.getWorkingMode());
- //杩愯鐘舵��
- basShuttle.setFree(shuttleProtocol.getFree());
- //褰撳墠閫熷害
- basShuttle.setSpeed(shuttleProtocol.getSpeed());
- //璐熻浇鐘舵��
- basShuttle.setLoadState(shuttleProtocol.getLoadState());
- //绠″埗鐘舵��
- basShuttle.setSuspendState(shuttleProtocol.getSuspendState());
- //椤跺崌浣嶇疆
- basShuttle.setLiftPosition(shuttleProtocol.getLiftPosition());
- //杩愯鏂瑰悜
- basShuttle.setRunDir(shuttleProtocol.getRunDir());
- //杩愯鏂瑰悜
- basShuttle.setRunDir2(shuttleProtocol.getRunDir2());
- //鍏呯數鐘舵��
- basShuttle.setChargState(shuttleProtocol.getChargState());
- //鐢垫睜鐢甸噺
- basShuttle.setPowerPercent(shuttleProtocol.getPowerPercent());
- //鏈�楂樼數鑺數鍘�
- basShuttle.setMaxCellVoltage(shuttleProtocol.getMaxCellVoltage());
- //鐢垫睜鐢靛帇
- basShuttle.setVoltage(shuttleProtocol.getVoltage());
- //鍏呮斁鐢靛惊鐜鏁�
- basShuttle.setChargeCycleTimes(shuttleProtocol.getChargeCycleTimes());
- //鍓╀綑鐢甸噺
- basShuttle.setSurplusQuantity(shuttleProtocol.getSurplusQuantity());
- //鎬荤數閲�
- basShuttle.setCountQuantity(shuttleProtocol.getCountQuantity());
- //瀹為檯搴撲綅
- basShuttle.setPoint(JSONObject.toJSONString(shuttleProtocol.getPoint()));
- //瀹為檯鍧愭爣
- basShuttle.setCoord(JSONObject.toJSONString(shuttleProtocol.getCoord()));
- //浠诲姟鐩殑搴撲綅
- basShuttle.setTask(JSONObject.toJSONString(shuttleProtocol.getTask()));
- //浠诲姟鐘舵��
- basShuttle.setTaskState(shuttleProtocol.getTaskState());
- //鏁呴殰鐘舵��
- basShuttle.setErrState(shuttleProtocol.getErrState());
- //鎬婚噷绋嬫暟
- basShuttle.setStatusSum(JSONObject.toJSONString(shuttleProtocol.getStatusSum()));
- //闈炶嚜鍔ㄧ姸鎬佹椂闂磋鏃�
- basShuttle.setErrTime(shuttleProtocol.getErrTime());
//浠诲姟鍙�
basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
//淇敼鏃堕棿
basShuttle.setUpdateTime(new Date());
//浣滀笟鏍囪
basShuttle.setPakMk(shuttleProtocol.getPakMk());
+ basShuttle.setDeviceStatus(JSON.toJSONString(basShuttle));
if (shuttleService.updateById(basShuttle)) {
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
// log.info(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
@@ -435,7 +394,7 @@
if (!(targetNode.getX() == node.getX() && targetNode.getY() == node.getY())) {
nodes.remove(nodes.size() - 1);//鍓旈櫎灏捐妭鐐�
}
- boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), nodes, false);//瑙ｉ攣璺緞
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo().intValue(), nodes, false);//瑙ｉ攣璺緞
if (!result) {
return false;//瑙ｉ攣澶辫触
}
@@ -800,7 +759,7 @@
}
}
}
- }else {//璺戝簱浣�
+ } else if (shuttleProtocol.getMoveType() == 1) {//璺戝簱浣�
Integer xCurrent = shuttleProtocol.getXCurrent();
if (xCurrent > shuttleProtocol.getXTarget()) {//褰揦鍊煎ぇ浜嶺鐩爣鍊硷紝杩涜褰掗浂涓擸鏂瑰悜+1
shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
@@ -824,12 +783,56 @@
//璋冨害鍘荤洰鏍囦綅缃�
if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
- }else {
+ } else {
boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), target.getLocNo());
if (result) {//璋冨害鎴愬姛
shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
}
}
+ } else if (shuttleProtocol.getMoveType() == 2) {//姣嶈建閬撳惊鐜窇
+ Integer xCurrent = shuttleProtocol.getXCurrent();
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+
+ String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
+ //璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
+ if (yCurrent.equals(shuttleProtocol.getYStart())) {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }else {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }
+ } else {
+ boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), locNo);
+ if (result) {//璋冨害鎴愬姛
+ if (yCurrent.equals(shuttleProtocol.getYStart())) {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//鍒囨崲搴撲綅
+ }else {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//鍒囨崲搴撲綅
+ }
+ }
+ }
+ } else if (shuttleProtocol.getMoveType() == 3) {//瀛愯建閬撳惊鐜窇
+ Integer xCurrent = shuttleProtocol.getXCurrent();
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+
+ String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
+ //璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
+ if (xCurrent.equals(shuttleProtocol.getXStart())) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }else {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }
+ } else {
+ boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), locNo);
+ if (result) {//璋冨害鎴愬姛
+ if (xCurrent.equals(shuttleProtocol.getXStart())) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//鍒囨崲搴撲綅
+ }else {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//鍒囨崲搴撲綅
+ }
+ }
+ }
}
}
--
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