From 58365ea8a02e8adee1b56948085998107f9a80b3 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 26 九月 2023 20:46:10 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 158 +++++++++++++++++++++++++++++-----------------------
1 files changed, 88 insertions(+), 70 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index 5bce024..f2602a8 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -67,10 +67,10 @@
case 1:
read();
break;
- // 鍐欏叆鏁版嵁
- case 2:
- write((NyShuttleHttpCommand) task.getData());
- break;
+// // 鍐欏叆鏁版嵁
+// case 2:
+// write((NyShuttleHttpCommand) task.getData());
+// break;
//涓嬪彂浠诲姟
case 3:
assignWork((ShuttleAssignCommand) task.getData());
@@ -275,7 +275,7 @@
}
- private boolean write(NyShuttleHttpCommand command){
+ private boolean write(NyShuttleHttpCommand command, ShuttleAssignCommand assignCommand) {
if (null == command) {
News.error("鍥涘悜绌挎杞﹀啓鍏ュ懡浠や负绌�");
return false;
@@ -308,10 +308,33 @@
throw new RuntimeException(ex);
}
}
+
+ //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
+ BasShuttleOpt opt = null;
+ if (shuttleOptService != null) {
+ opt = new BasShuttleOpt(
+ assignCommand.getTaskNo().intValue(),
+ assignCommand.getShuttleNo().intValue(),
+ new Date(),
+ ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
+ assignCommand.getSourceLocNo(),
+ assignCommand.getLocNo(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ null,
+ JSON.toJSONString(shuttleProtocol)
+ );
+ opt.setSend(1);//宸蹭笅鍙�
+ opt.setResponse(JSON.toJSONString(result));//璇锋眰鍝嶅簲
+ shuttleOptService.insert(opt);
+ }
+
if (result == null) {
return false;//璇锋眰澶辫触
}
-
return true;
}
@@ -373,10 +396,12 @@
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();
- if (command != null) {
+ if (command != null && command.getNodes() != null) {
nodes.addAll(command.getNodes());
}
- navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ if (nodes != null) {
+ 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
@@ -414,7 +439,10 @@
}
if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
- return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
+ //鍋滄鍏呯數
+ if(!(command.getRequest().getBody().get("requestType").equals("stopCharge") && shuttleProtocol.getChargState() == 1)){
+ return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
+ }
}
// //妫�娴嬪皬杞︽槸鍚﹁杩涙彁鍗囨満锛屽闇�瑕佽繘鎻愬崌鏈哄垯璋冨害鎻愬崌鏈�
@@ -427,20 +455,24 @@
return false;
}
- //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
- if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
- return false;
- }
+ if (command.getRequest().getBody().get("requestType").equals("move")) {
+ //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
+ if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
+ 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();
- if (nextNodes != null) {
- nodes.addAll(nextNodes);
+ //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();
+ if (nextNodes != null) {
+ nodes.addAll(nextNodes);
+ }
+ if (nodes != null) {
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ }
}
- 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)) {
+ if (!write(command, assignCommand)) {
News.error("鍥涘悜绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
return false;
}
@@ -449,24 +481,10 @@
//灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
shuttleProtocol.setPakMk(true);
- //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
- BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
- if (shuttleOptService != null) {
- BasShuttleOpt opt = new BasShuttleOpt(
- assignCommand.getTaskNo().intValue(),
- assignCommand.getShuttleNo().intValue(),
- new Date(),
- ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
- assignCommand.getSourceLocNo(),
- assignCommand.getLocNo(),
- null,
- null,
- null,
- JSON.toJSONString(command),
- null,
- JSON.toJSONString(shuttleProtocol)
- );
- shuttleOptService.insert(opt);
+ String requestType = command.getRequest().getBody().get("requestType").toString();
+ if (requestType.equals("updateFloor")) {
+ //鏇存柊妤煎眰鍛戒护
+ shuttleProtocol.setPakMk(false);//鎭㈠鏍囪
}
commandStep++;
@@ -656,39 +674,39 @@
}
}
- ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
- NavigateNode currentTarget = currentNodes.get(currentNodes.size() - 1);
- String currentLocNo = NavigatePositionConvert.nodeToLocNo(currentTarget);
- NavigateNode nextTarget = nextNodes.get(nextNodes.size() - 1);
- String nextLocNo = NavigatePositionConvert.nodeToLocNo(nextTarget);
- if (assignCommand.getLocNo().equals(currentLocNo) || assignCommand.getLocNo().equals(nextLocNo)) {
- //褰撳墠璺緞鏈�鍚庝竴涓妭鐐规槸鐩爣搴撲綅锛岃繘琛岃矾寰勬娴嬶紝濡傛灉涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
- //涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
- NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getShuttleNo().intValue(), shuttleProtocol.getTaskNo(), shuttleProtocol.getCurrentLocNo(), assignCommand.getLocNo());
- if (result == null) {
- return false;//璺緞璁＄畻澶辫触锛屼笉鍙璧�
- }
-
- List<NyShuttleHttpCommand> newCommands = result.getCommands();//鏂拌矾寰�
-
- //褰撳墠姝ュ簭
- int commandStep = redisCommand.getCommandStep();
- List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
-
- commands.remove(commandStep);//绉婚櫎褰撳墠姝ュ簭鎸囦护
- if (assignCommand.getLocNo().equals(currentLocNo)) {
- //褰撳墠璺緞锛岄渶瑕佸啀澶氱Щ闄や笅涓�姝ユ寚浠�
- commands.remove(commandStep + 1);
- }
-
- //灏嗘柊璺緞娣诲姞杩涙寚浠ら泦鍚�
- commands.addAll(commandStep, newCommands);
- assignCommand.setCommands(commands);
- redisCommand.setAssignCommand(assignCommand);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
- return false;//褰撳墠涓嶅彲琛岃蛋锛岀瓑寰呬笅涓�娆℃墽琛岃蛋鏂拌矾寰�
- }
+// ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+// NavigateNode currentTarget = currentNodes.get(currentNodes.size() - 1);
+// String currentLocNo = NavigatePositionConvert.nodeToLocNo(currentTarget);
+// NavigateNode nextTarget = nextNodes.get(nextNodes.size() - 1);
+// String nextLocNo = NavigatePositionConvert.nodeToLocNo(nextTarget);
+// if (assignCommand.getLocNo().equals(currentLocNo) || assignCommand.getLocNo().equals(nextLocNo)) {
+// //褰撳墠璺緞鏈�鍚庝竴涓妭鐐规槸鐩爣搴撲綅锛岃繘琛岃矾寰勬娴嬶紝濡傛灉涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
+// //涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
+// NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getShuttleNo().intValue(), shuttleProtocol.getTaskNo(), shuttleProtocol.getCurrentLocNo(), assignCommand.getLocNo());
+// if (result == null) {
+// return false;//璺緞璁＄畻澶辫触锛屼笉鍙璧�
+// }
+//
+// List<NyShuttleHttpCommand> newCommands = result.getCommands();//鏂拌矾寰�
+//
+// //褰撳墠姝ュ簭
+// int commandStep = redisCommand.getCommandStep();
+// List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
+//
+// commands.remove(commandStep);//绉婚櫎褰撳墠姝ュ簭鎸囦护
+// if (assignCommand.getLocNo().equals(currentLocNo)) {
+// //褰撳墠璺緞锛岄渶瑕佸啀澶氱Щ闄や笅涓�姝ユ寚浠�
+// commands.remove(commandStep + 1);
+// }
+//
+// //灏嗘柊璺緞娣诲姞杩涙寚浠ら泦鍚�
+// commands.addAll(commandStep, newCommands);
+// assignCommand.setCommands(commands);
+// redisCommand.setAssignCommand(assignCommand);
+// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+// redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+// return false;//褰撳墠涓嶅彲琛岃蛋锛岀瓑寰呬笅涓�娆℃墽琛岃蛋鏂拌矾寰�
+// }
return false;//涓嶅彲琛岃蛋
}
--
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