From 6694bb8752aced4b818f2976442d66ae3a52e9e8 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 25 七月 2025 13:25:11 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 91 +++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 91 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
index 2542703..58ecf5e 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -20,8 +20,11 @@
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
+import com.zy.common.utils.ShuttleOperaUtils;
import com.zy.core.News;
+import com.zy.core.action.ShuttleAction;
import com.zy.core.model.DeviceCommandMsgModel;
+import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.utils.DeviceMsgUtils;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
@@ -852,6 +855,94 @@
}
@Override
+ public boolean restartCalcPath() {
+ ConfigService configService = SpringUtils.getBean(ConfigService.class);
+ if (configService == null) {
+ return false;
+ }
+
+ ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+ if (shuttleAction == null) {
+ return false;
+ }
+
+ ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class);
+ if (shuttleOperaUtils == null) {
+ return false;
+ }
+
+ ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
+ if (objectMapper == null) {
+ return false;
+ }
+
+ boolean trafficControlRestartCalcPath = false;
+ Config trafficControlRestartCalcPathConfig = configService.selectOne(new EntityWrapper<Config>()
+ .eq("code", "trafficControlRestartCalcPath")
+ );
+ if(trafficControlRestartCalcPathConfig != null) {
+ trafficControlRestartCalcPath = trafficControlRestartCalcPathConfig.getValue().equals("Y") ? true : false;
+ }
+
+ if (!trafficControlRestartCalcPath) {
+ return false;
+ }
+
+ if (shuttleProtocol.getTaskNo() == 0) {
+ return false;
+ }
+
+ if (!this.isDeviceIdle()) {
+ return false;
+ }
+
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_RESTART_CALC_PATH.key + shuttleProtocol.getShuttleNo());
+ if (object != null) {
+ return false;
+ }
+
+ Integer taskNo = shuttleProtocol.getTaskNo();
+ Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
+ if (obj == null) {
+ return false;
+ }
+
+ ShuttleRedisCommand redisCommand = null;
+ try {
+ redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
+ } catch (IOException e) {
+ throw new RuntimeException(e);
+ }
+
+ if (redisCommand == null) {
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ String locNo = assignCommand.getLocNo();
+ List<NavigationMapType> mapTypes = assignCommand.getMapTypes();
+ if (locNo == null) {
+ return false;
+ }
+
+ if (mapTypes == null) {
+ return false;
+ }
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, mapTypes, assignCommand, this);
+ if (commands == null) {
+ return false;
+ }
+ assignCommand.setCommands(commands);
+
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ redisUtil.set(RedisKeyType.SHUTTLE_RESTART_CALC_PATH.key + shuttleProtocol.getShuttleNo(), true, 60);
+ return true;
+ }
+
+ @Override
public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
--
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