From 42af11ca3a84e13d1f55207b2770e2454a861983 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 01 八月 2025 17:05:03 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/action/ShuttleAction.java | 78 ++++++++++++++++++++++++++++++--------
1 files changed, 61 insertions(+), 17 deletions(-)
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index 2fb9616..6a968c0 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;
@@ -86,7 +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;
@@ -118,8 +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;
}
@@ -158,9 +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
}
@@ -178,6 +198,7 @@
if (!result) {
News.error("{} device can't lock path!", shuttleNo);
shuttleThread.offerSystemMsg("{} device can't lock path!", shuttleNo);
+ trafficControlThread.trafficReportError(shuttleNo, taskNo);
return false;//璺緞閿佸畾澶辫触
}
}
@@ -288,21 +309,23 @@
//鐩寸嚎娈垫暟鎹爣璇�
Long linePartFlag = startNode.getLinePartFlag();
- //鍙栨寚浠�
- ShuttleCommand currentCommand = commands.get(commandStep);
- if(currentCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
- return 0;
- }
+ if(commandStep < commands.size()){
+ //鍙栨寚浠�
+ ShuttleCommand currentCommand = commands.get(commandStep);
+ if(currentCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
+ return 0;
+ }
- List<NavigateNode> currentNodes = currentCommand.getNodes();
- NavigateNode currentStartNode = currentNodes.get(0);
- if(!currentStartNode.getLinePartAllowGo()) {//鐩寸嚎娈甸儴鍒嗭紝鍏佽鐩存帴琛岃蛋
- return 0;
- }
+ List<NavigateNode> currentNodes = currentCommand.getNodes();
+ NavigateNode currentStartNode = currentNodes.get(0);
+ if(!currentStartNode.getLinePartAllowGo()) {//鐩寸嚎娈甸儴鍒嗭紝鍏佽鐩存帴琛岃蛋
+ return 0;
+ }
- if(currentStartNode.getLinePartFlag().equals(linePartFlag)) {
- //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
+ if(currentStartNode.getLinePartFlag().equals(linePartFlag)) {
+ //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
+ }
}
}
@@ -404,18 +427,20 @@
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;
}
@@ -482,6 +507,21 @@
}
}
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) {
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ if (trafficControlThread == null) {
+ return false;
+ }
+
+ TrafficControlDataModel trafficControlDataModel = trafficControlThread.queryTrafficControl(shuttleNo, taskNo);
+ if (trafficControlDataModel == null) {
+ return false;
+ }
+
+ return true;
}
// /**
@@ -742,6 +782,10 @@
}
}
+ public synchronized boolean clearPath(Integer shuttleNo) {
+ return navigateMapUtils.clearPath(shuttleNo);
+ }
+
// //璺戝簱绋嬪簭
// public synchronized void moveLoc(Integer shuttleNo) {
// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
--
Gitblit v1.9.1