From 2c1e3b7b10c0d4afbf09a9151e132f1ee85b9c6f Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期六, 02 八月 2025 11:15:25 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/action/ShuttleAction.java | 129 +++++++++++++++++++++++++++---------------
1 files changed, 83 insertions(+), 46 deletions(-)
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index a47484b..55bba24 100644
--- a/src/main/java/com/zy/core/action/ShuttleAction.java
+++ b/src/main/java/com/zy/core/action/ShuttleAction.java
@@ -22,6 +22,7 @@
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;
@@ -69,11 +70,8 @@
return false;
}
- //娓呯┖涓嬪彂绱㈠紩
- Set<String> keys = redisUtil.searchKeys(RedisKeyType.SHUTTLE_SEND_COMMAND_INDEX.key + shuttleNo);
- for (String key : keys) {
- redisUtil.del(key);
- }
+ //Clear Traffic Control
+ trafficControlThread.forceCancelTrafficControl(shuttleNo);
ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
@@ -89,7 +87,7 @@
return false;
}
- public synchronized boolean executeWork(Integer shuttleNo, Integer taskNo) {
+ public boolean executeWork(Integer shuttleNo, Integer taskNo) {
Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
if (obj == null) {
return false;
@@ -121,8 +119,10 @@
return false;
}
+ News.info("execute check command {},{}", shuttleNo, taskNo);
//妫�娴嬪懡浠�
int checked = checkCommand(redisCommand, shuttleNo);
+ News.info("execute check command complete {},{}", shuttleNo, taskNo);
if (checked == 0) {
return false;
}
@@ -161,9 +161,26 @@
//绉诲姩鍛戒护锛岄攣瀹氳矾寰�
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);
- //鐢宠绠″埗
- boolean apply = applyTrafficControl(commands, nodes, shuttleNo, taskNo);
+
+ Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_LOCK_APPLY.key + shuttleNo);
+ if (object == null) {
+ //鐢宠绠″埗
+ News.info("execute apply control {},{}", shuttleNo, taskNo);
+ redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_LOCK_APPLY.key + shuttleNo, "lock", 10);
+ applyTrafficControl(commands, nodes, shuttleNo, taskNo);
+ News.info("execute apply control complete {},{}", shuttleNo, taskNo);
+ }
+
+ News.info("execute query control {},{}", shuttleNo, taskNo);
+ //鏌ヨ绠″埗
+ boolean apply = queryTrafficControl(shuttleNo, taskNo);
+ News.info("execute query control complete {},{}", shuttleNo, taskNo);
if(!apply){
return false;//鐢宠澶辫触
}
@@ -181,12 +198,15 @@
if (!result) {
News.error("{} device can't lock path!", shuttleNo);
shuttleThread.offerSystemMsg("{} device can't lock path!", shuttleNo);
+ trafficControlThread.trafficReportError(shuttleNo, taskNo);
return false;//璺緞閿佸畾澶辫触
}
}
+ News.info("execute send command {},{}", shuttleNo, taskNo);
// 涓嬪彂鍛戒护
CommandResponse response = write(command, shuttleNo);
+ News.info("execute send command complete {},{}", shuttleNo, taskNo);
//淇濆瓨鍛戒护鏃ュ織
BasShuttleOpt basShuttleOpt = new BasShuttleOpt();
@@ -211,9 +231,6 @@
}
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
-
- //瀛樺偍涓嬪彂鎸囦护绱㈠紩
- redisUtil.set(RedisKeyType.SHUTTLE_SEND_COMMAND_INDEX.key + shuttleNo + "_" + taskNo + "_" + commandStep, commandStep);
commandStep += 1;
//鏇存柊redis鏁版嵁
@@ -255,52 +272,46 @@
return 0;
}
- //涓婁竴鏉℃寚浠�
- String searchKey = RedisKeyType.SHUTTLE_SEND_COMMAND_INDEX.key + shuttleNo + "_" + redisCommand.getWrkNo() + "_";
- Set<String> keys = redisUtil.searchKeys(searchKey);
- TreeSet<Integer> treeSet = new TreeSet<>();
- for (String key : keys) {
- String[] split = key.split(searchKey);
- treeSet.add(Integer.parseInt(split[1]));
+ boolean supportContinuously = false;
+ int checkIdx = commandStep - 2;
+ if (checkIdx < 0) {
+ checkIdx = commandStep - 1;
}
- if (treeSet.isEmpty()) {
- return 1;
+ ShuttleCommand last2Command = commands.get(checkIdx);
+ if(last2Command.getComplete()){
+ supportContinuously = true;
+ checkIdx = commandStep - 1;
}
- String firstKey = searchKey + treeSet.first();
- Integer lastCommandIdx = (Integer) redisUtil.get(firstKey);
- ShuttleCommand lastCommand = commands.get(lastCommandIdx);
+ ShuttleCommand lastCommand = commands.get(checkIdx);
if (!lastCommand.getComplete()) {
//妫�娴嬫洿鏂板懡浠ゅ畬鎴�
- boolean checked = updateCommandComplete(lastCommandIdx, commands, shuttleNo);
+ boolean checked = updateCommandComplete(checkIdx, commands, shuttleNo);
if (checked) {
- //鍒犻櫎绱㈠紩
- redisUtil.del(firstKey);
-
// 鏇存柊redis鏁版嵁
redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
}else {
//灏忚溅绉诲姩杩炵画涓嬪彂鎸囦护
if (assignCommand.getShuttleMoveCommandsContinuously()) {
- if (treeSet.size() <= 1) {
- if(commandStep >= commands.size()) {
- return 0;
- }
+ if (!supportContinuously) {
+ return 0;
+ }
- //绉诲姩鎸囦护
- if(lastCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
- return 0;
- }
+ //绉诲姩鎸囦护
+ if(lastCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
+ return 0;
+ }
- List<NavigateNode> nodes = lastCommand.getNodes();
- NavigateNode startNode = nodes.get(0);
- if (!startNode.getLinePartAllowGo()) {//鐩寸嚎娈甸儴鍒嗭紝鍏佽鐩存帴琛岃蛋
- return 0;
- }
+ List<NavigateNode> nodes = lastCommand.getNodes();
+ NavigateNode startNode = nodes.get(0);
+ if (!startNode.getLinePartAllowGo()) {//鐩寸嚎娈甸儴鍒嗭紝鍏佽鐩存帴琛岃蛋
+ return 0;
+ }
- //鐩寸嚎娈垫暟鎹爣璇�
- Long linePartFlag = startNode.getLinePartFlag();
+ //鐩寸嚎娈垫暟鎹爣璇�
+ Long linePartFlag = startNode.getLinePartFlag();
+ if(commandStep < commands.size()){
//鍙栨寚浠�
ShuttleCommand currentCommand = commands.get(commandStep);
if(currentCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
@@ -317,7 +328,6 @@
//鏁版嵁鏍囪瘑涓�鑷�
return 2;//鍏佽灏忚溅绉诲姩杩炵画涓嬪彂鎸囦护
}
-
}
}
@@ -352,7 +362,8 @@
}
//鐢宠鍙栨秷绠″埗
- trafficControlThread.cancelTrafficControl(shuttleNo, shuttleProtocol.getTaskNo());
+ cancelTrafficControl(shuttleNo, shuttleProtocol.getTaskNo());
+
//鍒犻櫎redis
redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo());
return 0;//绂佹鍐嶄笅鍙戝懡浠�
@@ -419,15 +430,20 @@
return false;
}
//涓婃姤浜ょ
+ News.info("execute check command report traffic {},{}", shuttleNo, shuttleProtocol.getTaskNo());
trafficControlThread.trafficReport(command.getNodesDeepCopy(), shuttleNo, shuttleProtocol.getTaskNo());
+ News.info("execute check command report traffic complete {},{}", shuttleNo, shuttleProtocol.getTaskNo());
String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ 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);//瑙ｉ攣璺緞
if (!result) {
return false;//瑙ｉ攣澶辫触
}
+ command.setComplete(true);
}else {
return false;
}
@@ -494,6 +510,23 @@
}
}
return trafficControlThread.applyTrafficControl(totalNodeList, nodeList, shuttleNo, taskNo);
+ }
+
+ //鏌ヨ鏄惁鐢宠绠″埗鎴愬姛
+ public boolean queryTrafficControl(Integer shuttleNo, Integer taskNo) {
+ Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SUCCESS_APPLY.key + shuttleNo + "_" + taskNo);
+ if (object == null) {
+ return false;
+ }
+ return true;
+ }
+
+ public boolean cancelTrafficControl(Integer shuttleNo, Integer taskNo) {
+ TrafficControlDataModel model = new TrafficControlDataModel();
+ model.setShuttleNo(shuttleNo);
+ model.setTaskNo(taskNo);
+ redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_CANCEL_LIST.key + shuttleNo + "_" + taskNo, model);
+ return true;
}
// /**
@@ -752,6 +785,10 @@
} catch (Exception e) {
e.printStackTrace();
}
+ }
+
+ public synchronized boolean clearPath(Integer shuttleNo) {
+ return navigateMapUtils.clearPath(shuttleNo);
}
// //璺戝簱绋嬪簭
@@ -1123,7 +1160,7 @@
// }
// }
- private synchronized CommandResponse write(ShuttleCommand command, Integer shuttleNo) {
+ private CommandResponse write(ShuttleCommand command, Integer shuttleNo) {
CommandResponse response = new CommandResponse(false);
if (null == command) {
News.error("鍥涘悜绌挎杞﹀啓鍏ュ懡浠や负绌�");
--
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