From 6e02d92c3b9c240fa78a343b67ddf0db12d840e6 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 22 八月 2025 17:00:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java | 4
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 20 ++
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 90 +++++++++---
src/main/java/com/zy/core/action/ShuttleAction.java | 136 +++---------------
src/main/java/com/zy/common/utils/NavigateUtils.java | 23 +++
src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java | 16 +
src/main/java/com/zy/core/enums/RedisKeyType.java | 7 +
src/main/java/com/zy/asrs/service/impl/ForkMainServiceImpl.java | 16 +-
src/main/webapp/views/shuttleNew.html | 2
src/main/java/com/zy/core/News.java | 83 +++++++++++
10 files changed, 242 insertions(+), 155 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/ForkMainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/ForkMainServiceImpl.java
index 7386072..b9ab5de 100644
--- a/src/main/java/com/zy/asrs/service/impl/ForkMainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/ForkMainServiceImpl.java
@@ -187,10 +187,10 @@
}
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
}}, new ArrayList<>());
- if (checkObstacle) {
+ if (checkObstacle > 0) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
}
@@ -378,10 +378,10 @@
//鍒ゆ柇灏忚溅鏄惁鍒拌揪璐х墿搴撲綅
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
}}, new ArrayList<>());
- if (checkObstacle) {
+ if (checkObstacle > 0) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
}
@@ -520,10 +520,10 @@
}
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
}}, new ArrayList<>());
- if (checkObstacle) {
+ if (checkObstacle > 0) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
}
@@ -1390,10 +1390,10 @@
}
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
}}, new ArrayList<>());
- if (checkObstacle) {
+ if (checkObstacle > 0) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
}
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 6bc7288..9f5533e 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -182,10 +182,10 @@
}
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
}}, new ArrayList<>());
- if (checkObstacle) {
+ if (checkObstacle > 0) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
}
@@ -373,10 +373,10 @@
//鍒ゆ柇灏忚溅鏄惁鍒拌揪璐х墿搴撲綅
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
}}, new ArrayList<>());
- if (checkObstacle) {
+ if (checkObstacle > 0) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
}
@@ -515,10 +515,10 @@
}
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
}}, new ArrayList<>());
- if (checkObstacle) {
+ if (checkObstacle > 0) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
}
@@ -1387,10 +1387,10 @@
}
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
}}, new ArrayList<>());
- if (checkObstacle) {
+ if (checkObstacle > 0) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
}
@@ -1489,7 +1489,7 @@
}
//鎼滅储鏈�杩戜笖鏃犳晠闅滄彁鍗囨満
- LiftStaProtocol recentLiftStation = liftDispatchUtils.getRecentLiftStation(shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
+ LiftStaProtocol recentLiftStation = liftDispatchUtils.getRecentLiftStation(shuttleProtocol.getShuttleNo(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
if(recentLiftStation == null) {
News.info("{}鍙峰皬杞︼紝{}鐩爣搴撲綅锛屾病鏈夊彲鐢ㄧ┖闂茶緭閫佺珯鐐�", shuttleProtocol.getShuttleNo(), wrkMast.getLocNo());
return false;
@@ -1499,12 +1499,6 @@
if(targetLiftSta == null) {
return false;
}
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
- assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
- assignCommand.setAuto(true);//鑷姩妯″紡
//璁＄畻杩戠偣浣嶇疆
String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), recentLiftStation.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1);
@@ -1523,6 +1517,14 @@
wrkMastService.updateById(wrkMast);
return true;
}
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(endLocation);
+ assignCommand.setAuto(true);//鑷姩妯″紡
//鑾峰彇灏忚溅鍒拌繎鐐硅璧板懡浠�
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), endLocation, NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.SHUTTLE), assignCommand, shuttleThread);
@@ -1624,8 +1626,9 @@
return false;
}
+ Object object = redisUtil.get(RedisKeyType.LIFT_MOVE_TO_SHUTTLE_LIMIT.key + wrkMast.getWrkNo());
int targetLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
- if (liftProtocol.getLev() != targetLev) {
+ if (object == null || liftProtocol.getLev() != targetLev) {
//鑾峰彇鎻愬崌鏈哄懡浠�
LiftCommand liftCommand = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), targetLev);
ArrayList<LiftCommand> commands = new ArrayList<>();
@@ -1640,17 +1643,22 @@
//涓嬪彂浠诲姟
liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満鍦▄}灞傦紝鎻愬崌鏈轰笉鍦ㄥ皬杞﹀眰锛岃皟搴︾Щ鍔ㄤ腑", wrkMast.getWrkNo(), liftProtocol.getLev(), wrkMast.getLiftNo());
+ redisUtil.set(RedisKeyType.LIFT_MOVE_TO_SHUTTLE_LIMIT.key + wrkMast.getWrkNo(), "lift_moving", 60 * 3);
return false;
}
+
+ String liftLocNo = liftThread.getCurrentLocNo();
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(liftLocNo);
assignCommand.setAuto(true);//鑷姩妯″紡
//鑾峰彇灏忚溅鍒版彁鍗囨満琛岃蛋鍛戒护
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getCurrentLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread, "inLift");
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftLocNo, NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread, "inLift");
if (commands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞瑙ｉ攣澶辫触
@@ -1761,25 +1769,57 @@
return false;
}
+ if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_UPDATE_LOCATION.key + shuttleProtocol.getShuttleNo());
+ if(object != null) {
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//鏇存柊鍧愭爣
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+
+ //鏇存柊灏忚溅鍧愭爣
+ ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
+ ArrayList<ShuttleCommand> commands = new ArrayList<>();
+ commands.add(command);
+
+ assignCommand.setCommands(commands);
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ redisUtil.set(RedisKeyType.SHUTTLE_UPDATE_LOCATION.key + shuttleProtocol.getShuttleNo(), "update", 10);
+ return false;
+ }
+
+ String targetLocNo = navigateUtils.calcFirstLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 5);
+ if (targetLocNo == null) {//鍑烘彁鍗囨満杩戠偣璁＄畻澶辫触
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽嚭鎻愬崌鏈鸿繎鐐硅绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//鏇存柊鍧愭爣
+ assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
assignCommand.setAuto(true);//鑷姩妯″紡
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
- assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+ assignCommand.setLocNo(targetLocNo);//鐩爣搴撲綅
- //鏇存柊灏忚溅鍧愭爣
- ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
- ArrayList<ShuttleCommand> commands = new ArrayList<>();
- commands.add(command);
-
+ //鑾峰彇灏忚溅鍒拌繎鐐瑰懡浠�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), targetLocNo, NavigationMapType.getMapTypes(NavigationMapType.NORMAL), assignCommand, shuttleThread);
+ if (commands == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;//璺緞璁＄畻澶辫触
+ }
assignCommand.setCommands(commands);
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//灏忚溅杩佸嚭鎻愬崌鏈轰腑
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMast.setModiTime(now);
-
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index d49b64b..14430c1 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -231,6 +231,29 @@
return findTargetLocation(endPath);
}
+ public String calcFirstLocation(String startPoint, String endPoint, List<NavigationMapType> mapTypes, List<int[]> shuttlePoints, List<int[]> whites, int firstPathNumber) {
+ //璁＄畻璺緞
+ List<NavigateNode> navigateNodes = calc(startPoint, endPoint, mapTypes, shuttlePoints, whites);
+ if (navigateNodes == null) {
+ News.error("{} dash {} can't find navigate path!", startPoint, endPoint);
+ return null;
+ }
+
+ //鑾峰彇鍒嗘璺緞
+ List<List<NavigateNode>> partList = this.getSectionPath(navigateNodes);
+ List<NavigateNode> firstList = partList.get(0);
+
+ NavigateNode targetNode = null;
+ if(firstList.size() <= firstPathNumber){
+ targetNode = firstList.get(firstList.size() - 1);
+ }else {
+ targetNode = firstList.get(firstPathNumber);
+ }
+
+ String locNo = NavigatePositionConvert.nodeToLocNo(targetNode);
+ return locNo;
+ }
+
public String findTargetLocation(List<List<NavigateNode>> partList) {
List<NavigateNode> nodes = partList.get(partList.size() - 1);
NavigateNode targetNode = nodes.get(0);
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index db9ab33..c7dbe39 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -59,6 +59,8 @@
}
public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, String moveType) {
+ long getStartTime = System.currentTimeMillis();
+
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
return null;
@@ -99,7 +101,7 @@
//鑾峰彇鍒嗘璺緞
List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
long endTime = System.currentTimeMillis();
- News.info("getSection path time:{}", (endTime - startTime));
+ News.info("[RCS Debug] getSection path time:{}", (endTime - startTime));
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
for (int i = 0; i < data.size(); i++) {
List<NavigateNode> nodes = data.get(i);
@@ -141,6 +143,8 @@
}
}
assignCommand.setShuttleMoveCommandsContinuously(shuttleMoveCommandsContinuously);
+
+ News.info("{}浠诲姟锛寋}灏忚溅锛寋} - {} 璺緞鍛戒护鍖呰绠楁垚鍔燂紝鑰楁椂:{}ms", assignCommand.getTaskNo(), shuttleProtocol.getShuttleNo(), startLocNo, endLocNo, System.currentTimeMillis() - startTime);
return commands;
}
@@ -168,8 +172,11 @@
return commands;
}
- //妫�娴嬮殰纰嶇墿杞�
- public synchronized boolean checkObstacle(String locNo, List<Integer> whiteShuttles, List<NavigateNode> whiteNodes) {
+ /**
+ * 妫�娴嬮殰纰嶇墿杞�
+ * @return 0:鏃犻殰纰� 1:鏈夐殰纰嶈皟搴︽垚鍔� 2:鏈夐殰纰嶈皟搴﹀け璐�
+ */
+ public synchronized int checkObstacle(String locNo, List<Integer> whiteShuttles, List<NavigateNode> whiteNodes) {
int innerCircle = 0;
int outerCircle = 3;
Config avoidInnerCircleConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "avoidInnerCircle"));
@@ -202,7 +209,7 @@
List<NavigateNode> innerNodes = getInnerNodes(locNo, innerCircle, whiteShuttlePointList);
List<Integer> nodesCar = findNodesCar(innerNodes);
if (nodesCar.isEmpty()) {
- return false;//鍐呭湀涓棤杞�
+ return 0;//鍐呭湀涓棤杞�
}
//鑾峰彇澶栧湀鑺傜偣
@@ -239,10 +246,11 @@
if (targetLocNo == null) {
continue;
}
- shuttleDispatchUtils.dispatchShuttle(null, targetLocNo, shuttleNo);
+ boolean dispatched = shuttleDispatchUtils.dispatchShuttle(null, targetLocNo, shuttleNo);
+ return dispatched ? 1 : 2;
}
- return true;//鍐呭湀涓湁杞�
+ return 2;//鍐呭湀涓湁杞�
}
private HashMap<String, Integer> findCarMap() {
diff --git a/src/main/java/com/zy/core/News.java b/src/main/java/com/zy/core/News.java
index 956d860..0b650b5 100644
--- a/src/main/java/com/zy/core/News.java
+++ b/src/main/java/com/zy/core/News.java
@@ -1,8 +1,13 @@
package com.zy.core;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.WrkMastService;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.enums.RedisKeyType;
+import com.zy.system.entity.Config;
+import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import java.lang.reflect.Array;
@@ -98,16 +103,94 @@
}
public static void info(String format, Object... arguments) {
+ if (format.contains("[RCS Debug]")) {
+ ConfigService configService = SpringUtils.getBean(ConfigService.class);
+ if(configService != null) {
+ boolean show = true;
+ Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "rcsDebugShowLog"));
+ if(config != null) {
+ show = config.getValue().equals("true");
+ }
+
+ if (!show) {
+ return;
+ }
+ }
+ }
+ RedisUtil redisUtil = null;
+ try {
+ redisUtil = SpringUtils.getBean(RedisUtil.class);
+ if(redisUtil != null) {
+ Object object = redisUtil.get(RedisKeyType.LOG_LIMIT.key + format);
+ if (object != null) {
+ return;
+ }
+ redisUtil.set(RedisKeyType.LOG_LIMIT.key + format, "lock", 3);
+ }
+ }catch (Exception e) {}
+
log.info(format, arguments);
offer(NewsLevel.INFO, format, arguments);
}
public static void warn(String format, Object... arguments) {
+ if (format.contains("[RCS Debug]")) {
+ ConfigService configService = SpringUtils.getBean(ConfigService.class);
+ if(configService != null) {
+ boolean show = true;
+ Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "rcsDebugShowLog"));
+ if(config != null) {
+ show = config.getValue().equals("true");
+ }
+
+ if (!show) {
+ return;
+ }
+ }
+ }
+ RedisUtil redisUtil = null;
+ try {
+ redisUtil = SpringUtils.getBean(RedisUtil.class);
+ if(redisUtil != null) {
+ Object object = redisUtil.get(RedisKeyType.LOG_LIMIT.key + format);
+ if (object != null) {
+ return;
+ }
+ redisUtil.set(RedisKeyType.LOG_LIMIT.key + format, "lock", 3);
+ }
+ }catch (Exception e) {}
+
log.warn(format, arguments);
offer(NewsLevel.WARN, format, arguments);
}
public static void error(String format, Object... arguments) {
+ if (format.contains("[RCS Debug]")) {
+ ConfigService configService = SpringUtils.getBean(ConfigService.class);
+ if(configService != null) {
+ boolean show = true;
+ Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "rcsDebugShowLog"));
+ if(config != null) {
+ show = config.getValue().equals("true");
+ }
+
+ if (!show) {
+ return;
+ }
+ }
+ }
+ RedisUtil redisUtil = null;
+ try {
+ redisUtil = SpringUtils.getBean(RedisUtil.class);
+ if(redisUtil != null) {
+ Object object = redisUtil.get(RedisKeyType.LOG_LIMIT.key + format);
+ if (object != null) {
+ return;
+ }
+ redisUtil.set(RedisKeyType.LOG_LIMIT.key + format, "lock", 3);
+ }
+ }catch (Exception e) {}
+
log.error(format, arguments);
offer(NewsLevel.ERROR, format, arguments);
}
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index 55bba24..d709041 100644
--- a/src/main/java/com/zy/core/action/ShuttleAction.java
+++ b/src/main/java/com/zy/core/action/ShuttleAction.java
@@ -119,10 +119,10 @@
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);
+ News.info("[RCS Debug] Execute check command complete {},{}", shuttleNo, taskNo);
if (checked == 0) {
return false;
}
@@ -171,24 +171,19 @@
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) {
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();
@@ -342,16 +337,24 @@
// 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�
@@ -430,9 +433,9 @@
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) {
@@ -528,91 +531,6 @@
redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_CANCEL_LIST.key + shuttleNo + "_" + taskNo, model);
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) {
diff --git a/src/main/java/com/zy/core/enums/RedisKeyType.java b/src/main/java/com/zy/core/enums/RedisKeyType.java
index 9880268..31f830a 100644
--- a/src/main/java/com/zy/core/enums/RedisKeyType.java
+++ b/src/main/java/com/zy/core/enums/RedisKeyType.java
@@ -19,6 +19,11 @@
//灏忚溅閲嶆柊瑙勫垝璺緞棰戠巼
SHUTTLE_RESTART_CALC_PATH("shuttle_restart_calc_path_"),
+ //灏忚溅鏇存柊妤煎眰鍧愭爣棰戠巼
+ SHUTTLE_UPDATE_LOCATION("shuttle_update_location_"),
+
+ //鎻愬崌鏈虹Щ鍔ㄨ嚦灏忚溅灞傞鐜�
+ LIFT_MOVE_TO_SHUTTLE_LIMIT("lift_move_to_shuttle_LIMIT_"),
//浜ょ淇℃伅
TRAFFIC_CONTROL_MAP("traffic_control_map"),
@@ -46,6 +51,8 @@
DEVICE_CONFIG("deviceConfig"),
//铏氭嫙璁惧閰嶇疆鏂囦欢
FAKE_DEVICE_CONFIG("fakeDeviceConfig"),
+
+ LOG_LIMIT("log_limit_"),
;
public String key;
diff --git a/src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java b/src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java
index 4839cb1..e0d1ffe 100644
--- a/src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java
+++ b/src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java
@@ -70,7 +70,7 @@
if (taskNo != 0) {
//瀛樺湪浠诲姟闇�瑕佹墽琛�
long startTime = System.currentTimeMillis();
- News.info("execute {},{}", deviceConfig.getDeviceNo(), taskNo);
+ News.info("[RCS Debug] Execute {},{}", deviceConfig.getDeviceNo(), taskNo);
// 鍦ㄥ惊鐜腑浣跨敤
boolean result = TimeoutExecutor.executeWithTimeout(
() -> shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo),
@@ -78,7 +78,7 @@
TimeUnit.SECONDS
);
Thread.sleep(100);
- News.info("execute end {},{},{}", deviceConfig.getDeviceNo(), taskNo, System.currentTimeMillis() - startTime);
+ News.info("[RCS Debug] Execute end {},{},{}", deviceConfig.getDeviceNo(), taskNo, System.currentTimeMillis() - startTime);
}
}
}catch (Exception e){
diff --git a/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java b/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java
index 721e5ee..f1655fa 100644
--- a/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java
+++ b/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java
@@ -174,10 +174,14 @@
Long idleTime = pathIdleShuttleMap.get(shuttleProtocol.getShuttleNo());
if((System.currentTimeMillis() - idleTime) > 1000 * 10) {
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(shuttleProtocol.getCurrentLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(shuttleProtocol.getCurrentLocNo(), new ArrayList<Integer>() {{
add(shuttleNo);
}}, totalNodeList);
pathIdleShuttleMap.remove(shuttleProtocol.getShuttleNo());
+
+ if (checkObstacle == 2) {
+ pathShuttleThread.restartCalcPath();
+ }
}
}else {
pathIdleShuttleMap.put(shuttleProtocol.getShuttleNo(), System.currentTimeMillis());
@@ -198,6 +202,10 @@
}
if(totalLocList.contains(locNo)) {
+ String first = totalLocList.get(0);
+ if(first.equals(locNo)) {//filter first node
+ continue;
+ }
return false;
}
}
@@ -211,7 +219,7 @@
applyRecordsMap.remove(shuttleNo);
redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_SUCCESS_APPLY.key + shuttleNo + "_" + taskNo, 1, 60 * 60);
- News.info("receipt traffic {},{}", shuttleNo, taskNo);
+ News.info("[RCS Debug] receipt traffic {},{}", shuttleNo, taskNo);
return true;
}
@@ -335,7 +343,7 @@
public synchronized boolean operateTrafficControl(OperateTrafficControlParam param) {
long startTime = System.currentTimeMillis();
String operaType = param.getOperaType();
- News.info("Operate Traffic Control is Start " + operaType);
+ News.info("[RCS Debug] Operate Traffic Control is Start " + operaType);
boolean result = false;
if (operaType.equals("add")) {
@@ -354,7 +362,7 @@
new ArrayList<>(model.getTotalNodeList())
))
.collect(Collectors.toList());
- News.info("Operate Traffic Control is end " + (System.currentTimeMillis() - startTime) + "ms");
+ News.info("[RCS Debug] Operate Traffic Control is end " + (System.currentTimeMillis() - startTime) + "ms");
return result;
}
diff --git a/src/main/webapp/views/shuttleNew.html b/src/main/webapp/views/shuttleNew.html
index db1afad..1314abe 100644
--- a/src/main/webapp/views/shuttleNew.html
+++ b/src/main/webapp/views/shuttleNew.html
@@ -571,7 +571,7 @@
requestParam.shuttleTaskMode = 17;
}else if (type == 'writeTaskNo') {
requestParam.workNo = this.controlData.taskNo;
- requestParam.pakMk = null;
+ requestParam.pakMk = "Y";
$.ajax({
url: baseUrl + "/shuttle/detl/update",
--
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