From 69ba128c58bfb9f5a79481e4997558aafc6f46c6 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期二, 23 九月 2025 15:21:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/action/ShuttleAction.java | 600 ++++++++++-------------------------------------------------
1 files changed, 101 insertions(+), 499 deletions(-)
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index 55bba24..a44e675 100644
--- a/src/main/java/com/zy/core/action/ShuttleAction.java
+++ b/src/main/java/com/zy/core/action/ShuttleAction.java
@@ -119,11 +119,11 @@
return false;
}
- News.info("execute check command {},{}", shuttleNo, taskNo);
+ News.info("[RCS Debug] 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) {
+ ShuttleCheckCommandResultType checked = checkCommand(redisCommand, shuttleNo);
+ News.info("[RCS Debug] Execute check command complete {},{}", shuttleNo, taskNo);
+ if (checked.equals(ShuttleCheckCommandResultType.FAIL)) {
return false;
}
@@ -140,7 +140,7 @@
//鍙栧嚭鍛戒护
ShuttleCommand command = null;
- if (checked == 1) {
+ if (checked.equals(ShuttleCheckCommandResultType.SUCCESS)) {
//闈炶繛缁寚浠わ紝闇�瑕佹娴嬩笂涓�鏉℃寚浠ゆ槸鍚﹀畬鎴�
if (commandStep > 0) {
ShuttleCommand lastCommand = commands.get(commandStep - 1);
@@ -150,7 +150,7 @@
}
command = commands.get(commandStep);
- } else if (checked == 2) {
+ } else if (checked.equals(ShuttleCheckCommandResultType.SUCCESS_GO)) {
//杩炵画鎸囦护鐩存帴鍙栨暟鎹�
command = commands.get(commandStep);
}
@@ -171,26 +171,21 @@
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);
+ News.info("[RCS Debug] 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("[RCS Debug] Execute apply control complete {},{}", shuttleNo, taskNo);
}
- News.info("execute query control {},{}", shuttleNo, taskNo);
+ News.info("[RCS Debug] Execute query control {},{}", shuttleNo, taskNo);
//鏌ヨ绠″埗
boolean apply = queryTrafficControl(shuttleNo, taskNo);
- News.info("execute query control complete {},{}", shuttleNo, taskNo);
+ News.info("[RCS Debug] Execute query control complete {},{}", shuttleNo, taskNo);
if(!apply){
return false;//鐢宠澶辫触
}
-// //妫�娴嬭矾寰勬槸鍚﹀啿绐�
-// int conflict = searchShuttlePathConflict(nodes, shuttleNo);
-// if(conflict == 2){
-// return false;//妫�娴嬪悗鏈夊啿绐�
-// }
- if (checked == 2) {
+ if (checked.equals(ShuttleCheckCommandResultType.SUCCESS_GO)) {
nodes.remove(0);
}
@@ -203,10 +198,10 @@
}
}
- News.info("execute send command {},{}", shuttleNo, taskNo);
+ News.info("[RCS Debug] Execute send command {},{}", shuttleNo, taskNo);
// 涓嬪彂鍛戒护
CommandResponse response = write(command, shuttleNo);
- News.info("execute send command complete {},{}", shuttleNo, taskNo);
+ News.info("[RCS Debug] Execute send command complete {},{}", shuttleNo, taskNo);
//淇濆瓨鍛戒护鏃ュ織
BasShuttleOpt basShuttleOpt = new BasShuttleOpt();
@@ -245,38 +240,40 @@
* 妫�娴嬪懡浠�
* 0:鏈�氳繃 1:閫氳繃 2:閫氳繃涓斿彲鎻愬墠涓嬪彂鎸囦护
*/
- private int checkCommand(ShuttleRedisCommand redisCommand, Integer shuttleNo) {
+ private ShuttleCheckCommandResultType checkCommand(ShuttleRedisCommand redisCommand, Integer shuttleNo) {
TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
if(trafficControlThread == null){
- return 0;
+ return ShuttleCheckCommandResultType.FAIL;
}
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
if (shuttleThread == null) {
- return 0;
+ return ShuttleCheckCommandResultType.FAIL;
}
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
- return 0;
+ return ShuttleCheckCommandResultType.FAIL;
}
int commandStep = redisCommand.getCommandStep();
if (commandStep == 0) {
- return 1;//绗竴鏉″懡浠ゆ棤闇�妫�娴�
+ return ShuttleCheckCommandResultType.SUCCESS;//绗竴鏉″懡浠ゆ棤闇�妫�娴�
}
ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
List<ShuttleCommand> commands = assignCommand.getCommands();
if (commands.isEmpty()) {
- return 0;
+ return ShuttleCheckCommandResultType.FAIL;
}
boolean supportContinuously = false;
int checkIdx = commandStep - 2;
if (checkIdx < 0) {
+ supportContinuously = true;
checkIdx = commandStep - 1;
}
+
ShuttleCommand last2Command = commands.get(checkIdx);
if(last2Command.getComplete()){
supportContinuously = true;
@@ -294,18 +291,18 @@
//灏忚溅绉诲姩杩炵画涓嬪彂鎸囦护
if (assignCommand.getShuttleMoveCommandsContinuously()) {
if (!supportContinuously) {
- return 0;
+ return ShuttleCheckCommandResultType.FAIL;
}
//绉诲姩鎸囦护
if(lastCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
- return 0;
+ return ShuttleCheckCommandResultType.FAIL;
}
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;
+ return ShuttleCheckCommandResultType.FAIL;
}
//鐩寸嚎娈垫暟鎹爣璇�
@@ -315,23 +312,23 @@
//鍙栨寚浠�
ShuttleCommand currentCommand = commands.get(commandStep);
if(currentCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
- return 0;
+ return ShuttleCheckCommandResultType.FAIL;
}
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;
+ return ShuttleCheckCommandResultType.FAIL;
}
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
+ return ShuttleCheckCommandResultType.SUCCESS_GO;//鍏佽灏忚溅绉诲姩杩炵画涓嬪彂鎸囦护
}
}
}
- return 0;
+ return ShuttleCheckCommandResultType.FAIL;
}
}
@@ -342,16 +339,24 @@
// 绯荤粺浠诲姟
if (assignCommand.getAuto()) {
- if (!assignCommand.getCharge()) {
- //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
- } else {
- shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.UPDATE_LOCATION.id) {//鏇存柊鍧愭爣鏃犻渶绛夊緟纭
+ //鐩存帴澶嶄綅绌洪棽鐘舵��
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ shuttleThread.setSyncTaskNo(0);
+ //鏍囪澶嶄綅
+ shuttleThread.setPakMk(true);
+ News.info("鍥涘悜绌挎杞︽洿鏂板潗鏍囦换鍔℃墽琛屽畬鎴愶紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(endCommand));
+ }else {
+ if (!assignCommand.getCharge()) {
+ //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ } else {
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
+ }
+ News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(endCommand));
}
- News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(endCommand));
-
- // 鎵嬪姩浠诲姟
- } else {
+ } else {// 鎵嬪姩浠诲姟
//鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬侊紝鐩存帴澶嶄綅绌洪棽鐘舵��
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
//浠诲姟鍙锋竻闆�
@@ -366,10 +371,10 @@
//鍒犻櫎redis
redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo());
- return 0;//绂佹鍐嶄笅鍙戝懡浠�
+ return ShuttleCheckCommandResultType.FAIL;//绂佹鍐嶄笅鍙戝懡浠�
}
- return 1;
+ return ShuttleCheckCommandResultType.SUCCESS;
}
//妫�娴嬫洿鏂板懡浠ゅ畬鎴�
@@ -430,9 +435,9 @@
return false;
}
//涓婃姤浜ょ
- News.info("execute check command report traffic {},{}", shuttleNo, shuttleProtocol.getTaskNo());
+ News.info("[RCS Debug] 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());
+ News.info("[RCS Debug] Execute check command report traffic complete {},{}", shuttleNo, shuttleProtocol.getTaskNo());
String currentLocNo = shuttleProtocol.getCurrentLocNo();
if (currentLocNo == null) {
@@ -529,91 +534,6 @@
return true;
}
-// /**
-// * 鎼滅储灏忚溅璺緞鏄惁瀛樺湪鍐茬獊
-// * 0:鏈娴� 1:妫�娴嬫棤鍐茬獊 2:妫�娴嬫湁鍐茬獊
-// */
-// public int searchShuttlePathConflict(List<NavigateNode> nodeList, Integer shuttleNo) {
-// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
-// if (shuttleThread == null) {
-// return 0;
-// }
-//
-// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
-// if (shuttleProtocol == null) {
-// return 0;
-// }
-//
-// int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
-//
-// TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
-// if (trafficControlThread == null) {
-// return 2;
-// }
-// HashMap<String, List<Integer>> nodeMap = trafficControlThread.getNodesMapByLev(lev);
-// if (nodeMap == null || nodeMap.isEmpty()) {
-// return 2;
-// }
-//
-// List<String> conflictLocList = new ArrayList<>();
-// for (NavigateNode node : nodeList) {
-// String locNo = Utils.getLocNo(node.getX(), node.getY(), lev);
-// if(!nodeMap.containsKey(locNo)) {
-// return 2;
-// }
-//
-// List<Integer> shuttleNos = nodeMap.get(locNo);
-// if (shuttleNos.size() > 1) {
-// //璺緞瀛樺湪澶氳溅锛屽啿绐�
-// conflictLocList.add(locNo);
-// }
-// }
-//
-// if (conflictLocList.isEmpty()) {
-// //鏃犲啿绐侊紝瑙ｉ櫎浜ら�氱鍒�
-// shuttleThread.setTrafficControl(false, null);
-// return 1;//妫�娴嬪悗鏃犲啿绐�
-// }
-//
-// //璺緞瀛樺湪鍐茬獊锛屾娴嬪彲鎵ц杞﹁締鏄惁涓哄綋鍓嶅皬杞�
-// //涓婃姤灏忚溅鐘舵��-浜ら�氱鍒朵腑
-// shuttleThread.setTrafficControl(true, nodeList);
-//
-// HashMap<String, Integer> deviceMap = trafficControlThread.getDeviceMap();
-// if(deviceMap == null) {
-// return 2;
-// }
-//
-// boolean detected = false;
-//// for (Map.Entry<String, Integer> entry : deviceMap.entrySet()) {
-//// List<String> mainList = JSON.parseArray(entry.getKey(), String.class);
-//// Integer device = entry.getValue();
-//// if(result) {
-//// //鍒ゆ柇绠″埗杞﹁締鏄惁鍖归厤
-//// if(shuttleNo.equals(device)) {
-//// detected = true;
-//// break;
-//// }
-//// }
-//// }
-//
-// for (Map.Entry<String, Integer> entry : deviceMap.entrySet()) {
-// String key = entry.getKey();
-// Integer value = entry.getValue();
-// if(shuttleNo.equals(value)) {
-// //鍒ゆ柇绠″埗杞﹁締鏄惁鍖归厤
-// detected = true;
-// break;
-// }
-// }
-//
-// if (detected) {
-// return 1;//妫�娴嬪悗鏃犲啿绐侊紝浜ら�氱鍒跺凡鍏佽姝ゅ皬杞﹁繍琛�
-// }
-//
-// return 2;//妫�娴嬪悗鏈夊啿绐�
-// }
-
//婕旂ず妯″紡
public synchronized void demo(Integer shuttleNo) {
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
@@ -645,7 +565,7 @@
return;
}
- if (shuttleThread.isRequireCharge()) {
+ if (!shuttleThread.isRequireCharge().equals(ShuttleRequireChargeType.NONE)) {
return;
}
@@ -787,378 +707,60 @@
}
}
+ public synchronized void demoModeRunLoc(Integer shuttleNo) {
+ Config demoModeRunLocConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoModeRunLoc"));
+ if (demoModeRunLocConfig == null) {
+ return;
+ }
+
+ if (!demoModeRunLocConfig.getValue().equals("Y")) {
+ return;
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return;
+ }
+
+ if (!shuttleThread.isIdle()) {
+ return;
+ }
+
+ LocMast targetLoc = null;
+ EntityWrapper<LocMast> wrapper = new EntityWrapper<>();
+ wrapper.eq("lev1", Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ wrapper.notIn("loc_sts", "X");
+ wrapper.isNull("loc_type");
+ wrapper.last("ORDER BY RAND() LIMIT 1");
+ for (int i = 0; i < 3; i++) {
+ LocMast locMast = locMastService.selectOne(wrapper);
+ if(locMast == null) {
+ continue;
+ }
+
+ targetLoc = locMast;
+ break;
+ }
+
+ if(targetLoc == null) {
+ return;
+ }
+
+ boolean result = shuttleDispatchUtils.dispatchShuttle(null, targetLoc.getLocNo(), shuttleProtocol.getShuttleNo());
+ if (result) {
+ targetLoc.setLocType("Y");
+ locMastService.updateById(targetLoc);
+ }
+ }
+
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);
-// if (shuttleThread == null) {
-// return;
-// }
-// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(false);
-// if (shuttleProtocol == null) {
-// return;
-// }
-//
-// //灏忚溅寮�鍚窇搴撴ā寮�
-// if (!shuttleProtocol.getMoveLoc()) {
-// return;
-// }
-//
-// //灏忚溅绌洪棽
-// if (!shuttleThread.isIdle()) {
-// return;
-// }
-//
-// int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//灏忚溅褰撳墠妤煎眰
-//
-// if (shuttleProtocol.getMoveType() == 0) {//璺戣建閬�
-// //鏍规嵁鍦板浘鏂瑰悜鍐冲畾璺憍鎴杫
-// Config config = configService.selectOne(new EntityWrapper<Config>()
-// .eq("code", "direction_map")
-// .eq("status", 1));
-// if (config == null) {
-// //璺戝簱缁撴潫
-// shuttleProtocol.setMoveLoc(false);
-// shuttleProtocol.setMoveType(0);
-// shuttleProtocol.setXStart(0);
-// shuttleProtocol.setXTarget(0);
-// shuttleProtocol.setXCurrent(0);
-// shuttleProtocol.setYStart(0);
-// shuttleProtocol.setYTarget(0);
-// shuttleProtocol.setYCurrent(0);
-// return;
-// }
-// String direction = config.getValue();
-//
-// if (direction.equals("y")) {//璺憍杞存柟鍚戯紝璺戝畬x杞村啀鍒囨崲y杞�
-// ArrayList<String> locs = new ArrayList<>();
-// for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
-// String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
-// locs.add(locNo);
-// }
-//
-// List<LocMast> locList = locMastService.selectList(new EntityWrapper<LocMast>()
-// .eq("loc_sts", LocStsType.O.toString())
-// .in("loc_no", locs));
-// if (locList.isEmpty()) {
-// //绌哄簱浣�
-// shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
-// return;
-// }
-//
-// LocMast start = locList.get(0);
-// LocMast target = locList.get(locList.size() - 1);
-// //鍒ゆ柇灏忚溅鏄惁鍦ㄨ捣鐐逛綅缃�
-// if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//涓嶅湪璧风偣浣嶇疆锛岃皟搴﹀幓璧风偣浣嶇疆
-// shuttleDispatcher.generateMoveTask(device, start.getLocNo());
-// }else {
-// //鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
-// Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
-// if (task != null) {
-// shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//鍒囨崲y杞�
-// }
-//
-// if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
-// //y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
-// shuttleProtocol.setMoveLoc(false);
-// shuttleProtocol.setMoveType(0);
-// shuttleProtocol.setXStart(0);
-// shuttleProtocol.setXTarget(0);
-// shuttleProtocol.setXCurrent(0);
-// shuttleProtocol.setYStart(0);
-// shuttleProtocol.setYTarget(0);
-// shuttleProtocol.setYCurrent(0);
-// return;
-// }
-// }
-// }else {//璺憏杞存柟鍚戯紝璺戝畬y杞村啀鍒囨崲x杞�
-// ArrayList<String> locs = new ArrayList<>();
-// for (int i = shuttleProtocol.getYCurrent(); i <= shuttleProtocol.getYTarget(); i++) {
-// String locNo = Utils.getLocNo(shuttleProtocol.getXCurrent(), i, lev);
-// locs.add(locNo);
-// }
-//
-// List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
-// .eq(Loc::getLocSts, LocStsType.O.val())
-// .in(Loc::getLocNo, locs));
-// if (locList.isEmpty()) {
-// //绌哄簱浣�
-// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
-// return;
-// }
-//
-// Loc start = locList.get(0);
-// Loc target = locList.get(locList.size() - 1);
-// //鍒ゆ柇灏忚溅鏄惁鍦ㄨ捣鐐逛綅缃�
-// if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//涓嶅湪璧风偣浣嶇疆锛岃皟搴﹀幓璧风偣浣嶇疆
-// shuttleDispatcher.generateMoveTask(device, start.getLocNo());
-// }else {
-// //鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
-// Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
-// if (task != null) {
-// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//鍒囨崲x杞�
-// }
-//
-// if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
-// //y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
-// shuttleProtocol.setMoveLoc(false);
-// shuttleProtocol.setMoveType(0);
-// shuttleProtocol.setXStart(0);
-// shuttleProtocol.setXTarget(0);
-// shuttleProtocol.setXCurrent(0);
-// shuttleProtocol.setYStart(0);
-// shuttleProtocol.setYTarget(0);
-// shuttleProtocol.setYCurrent(0);
-// return;
-// }
-// }
-// }
-//
-// } else if (shuttleProtocol.getMoveType() == 1) {//璺戝簱浣�
-// //鏍规嵁鍦板浘鏂瑰悜鍐冲畾璺憍鎴杫
-// Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
-// .eq(Dict::getFlag, "direction_map")
-// .eq(Dict::getStatus, 1));
-// if (dict == null) {
-// //璺戝簱缁撴潫
-// shuttleProtocol.setMoveLoc(false);
-// shuttleProtocol.setMoveType(0);
-// shuttleProtocol.setXStart(0);
-// shuttleProtocol.setXTarget(0);
-// shuttleProtocol.setXCurrent(0);
-// shuttleProtocol.setYStart(0);
-// shuttleProtocol.setYTarget(0);
-// shuttleProtocol.setYCurrent(0);
-// return;
-// }
-// String direction = dict.getValue();
-//
-// if (direction.equals("y")) {//璺憍杞存柟鍚戯紝璺戝畬x杞村啀鍒囨崲y杞�
-// Integer xCurrent = shuttleProtocol.getXCurrent();
-//
-// //鑾峰彇寰呰窇搴撲綅鍙�
-// String locNo = Utils.getLocNo(xCurrent, shuttleProtocol.getYCurrent(), lev);
-// Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
-// .eq(Loc::getLocNo, locNo)
-// .eq(Loc::getLocSts, LocStsType.O.val())
-// .eq(Loc::getHostId, device.getHostId()));
-// if (target == null || shuttleProtocol.getCurrentLocNo().equals(locNo)) {//搴撲綅涓嶅瓨鍦ㄦ垨灏忚溅宸插湪褰撳墠浣嶇疆
-// shuttleProtocol.setXCurrent(xCurrent + 1);
-// if (shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
-// //x杞磋窇瀹岋紝鍒囨崲y杞�
-// shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
-// shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
-//
-// if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
-// //y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
-// shuttleProtocol.setMoveLoc(false);
-// shuttleProtocol.setMoveType(0);
-// shuttleProtocol.setXStart(0);
-// shuttleProtocol.setXTarget(0);
-// shuttleProtocol.setXCurrent(0);
-// shuttleProtocol.setYStart(0);
-// shuttleProtocol.setYTarget(0);
-// shuttleProtocol.setYCurrent(0);
-// return;
-// }
-// }
-// return;
-// }
-//
-// //璋冨害鍘诲簱浣�
-// Task task = shuttleDispatcher.generateMoveTask(device, locNo);
-// if (task == null) {
-// return;//璋冨害澶辫触
-// }
-//
-// shuttleProtocol.setXCurrent(xCurrent + 1);
-// if (shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
-// //x杞磋窇瀹岋紝鍒囨崲y杞�
-// shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
-// shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
-//
-// if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
-// //y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
-// shuttleProtocol.setMoveLoc(false);
-// shuttleProtocol.setMoveType(0);
-// shuttleProtocol.setXStart(0);
-// shuttleProtocol.setXTarget(0);
-// shuttleProtocol.setXCurrent(0);
-// shuttleProtocol.setYStart(0);
-// shuttleProtocol.setYTarget(0);
-// shuttleProtocol.setYCurrent(0);
-// return;
-// }
-// }
-//
-// }else {//璺憏杞存柟鍚戯紝璺戝畬y杞村啀鍒囨崲x杞�
-// Integer yCurrent = shuttleProtocol.getYCurrent();
-//
-// //鑾峰彇寰呰窇搴撲綅鍙�
-// String locNo = Utils.getLocNo(shuttleProtocol.getXCurrent(), yCurrent, lev);
-// Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
-// .eq(Loc::getLocNo, locNo)
-// .eq(Loc::getLocSts, LocStsType.O.val())
-// .eq(Loc::getHostId, device.getHostId()));
-// if (target == null || shuttleProtocol.getCurrentLocNo().equals(locNo)) {//搴撲綅涓嶅瓨鍦ㄦ垨灏忚溅宸插湪褰撳墠浣嶇疆
-// shuttleProtocol.setYCurrent(yCurrent + 1);
-// if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
-// //y杞磋窇瀹岋紝鍒囨崲x杞�
-// shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
-// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
-//
-// if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
-// //x杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
-// shuttleProtocol.setMoveLoc(false);
-// shuttleProtocol.setMoveType(0);
-// shuttleProtocol.setXStart(0);
-// shuttleProtocol.setXTarget(0);
-// shuttleProtocol.setXCurrent(0);
-// shuttleProtocol.setYStart(0);
-// shuttleProtocol.setYTarget(0);
-// shuttleProtocol.setYCurrent(0);
-// return;
-// }
-// }
-// return;
-// }
-//
-// //璋冨害鍘诲簱浣�
-// Task task = shuttleDispatcher.generateMoveTask(device, locNo);
-// if (task == null) {
-// return;//璋冨害澶辫触
-// }
-//
-// shuttleProtocol.setYCurrent(yCurrent + 1);
-// if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
-// //y杞磋窇瀹岋紝鍒囨崲x杞�
-// shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
-// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
-//
-// if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
-// //x杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
-// shuttleProtocol.setMoveLoc(false);
-// shuttleProtocol.setMoveType(0);
-// shuttleProtocol.setXStart(0);
-// shuttleProtocol.setXTarget(0);
-// shuttleProtocol.setXCurrent(0);
-// shuttleProtocol.setYStart(0);
-// shuttleProtocol.setYTarget(0);
-// shuttleProtocol.setYCurrent(0);
-// return;
-// }
-// }
-//
-// }
-// } 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 {
-// Task result = shuttleDispatcher.generateMoveTask(device, locNo);
-// if (result != null) {//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 {
-// Task result = shuttleDispatcher.generateMoveTask(device, locNo);
-// if (result != null) {//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
-// }
-// }
-// }
-// } else if (shuttleProtocol.getMoveType() == 4) {//鍙栨斁璐�
-// Integer xCurrent = shuttleProtocol.getXCurrent();
-// if (xCurrent > shuttleProtocol.getXTarget()) {//褰揦鍊煎ぇ浜嶺鐩爣鍊�
-// shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
-// shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
-// return;
-// }
-//
-// //鍒ゆ柇x杞磋揣浣嶆槸鍚︽斁婊�
-// boolean flag = true;
-// for (Loc loc : locService.list(new LambdaQueryWrapper<Loc>()
-// .eq(Loc::getHostId, device.getHostId())
-// .eq(Loc::getRow, xCurrent)
-// .ge(Loc::getBay, shuttleProtocol.getYStart())
-// .le(Loc::getBay, shuttleProtocol.getYTarget()))) {
-// if (loc.getLocSts() != LocStsType.F.val()) {
-// flag = false;//鏈弧
-// break;
-// }
-// }
-// if (flag) {
-// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
-// return;
-// }
-//
-// //鎼滅储鏈夎揣搴撲綅
-// List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>()
-// .eq(Loc::getLocSts, LocStsType.F.val())
-// .eq(Loc::getHostId, device.getHostId())
-// .notIn(Loc::getRow, xCurrent)
-// .eq(Loc::getStatus, 1));
-// if (list.isEmpty()) {
-// return;
-// }
-//
-// Loc start = list.get(0);
-//
-// List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
-// .eq(Loc::getHostId, device.getHostId())
-// .eq(Loc::getStatus, 1)
-// .eq(Loc::getLocSts, LocStsType.O.val())
-// .eq(Loc::getRow, xCurrent)
-// .orderByDesc(Loc::getBay)
-// .orderByAsc(Loc::getRow));
-// if (locList.isEmpty()) {
-// return;
-// }
-//
-// Loc target = locList.get(0);
-// if (target == null) {
-// return;
-// }
-//
-// //璋冨害鍘荤洰鏍囦綅缃�
-// if (!shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
-// Task task = shuttleDispatcher.generateManuaTakeMoveTask(device, start.getLocNo(), target.getLocNo());
-//// if(task != null) {//璋冨害鎴愬姛
-//// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
-//// }
-// }
-// }
-// }
private CommandResponse write(ShuttleCommand command, Integer shuttleNo) {
CommandResponse response = new CommandResponse(false);
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