From 728ad81fa10d2879654c5f9ae4314db94eafb865 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 01 八月 2025 08:08:18 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java | 48 ++--
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 76 +++---
src/main/java/com/zy/core/action/ShuttleAction.java | 50 ++-
src/main/webapp/views/console.html | 25 +
src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java | 460 +++++---------------------------------
src/main/java/com/zy/core/thread/TrafficControlThread.java | 11
src/main/webapp/views/shuttleNew.html | 28 +
7 files changed, 196 insertions(+), 502 deletions(-)
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index d25b6cb..a0a88b1 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;
@@ -165,7 +166,9 @@
List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);
//鐢宠绠″埗
- boolean apply = applyTrafficControl(commands, nodes, shuttleNo, taskNo);
+ applyTrafficControl(commands, nodes, shuttleNo, taskNo);
+ //鏌ヨ绠″埗
+ boolean apply = queryTrafficControl(shuttleNo, taskNo);
if(!apply){
return false;//鐢宠澶辫触
}
@@ -294,21 +297,23 @@
//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
+ }
}
}
@@ -490,6 +495,21 @@
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;
+ }
+
// /**
// * 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
diff --git a/src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java b/src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java
index 5b16027..9020af6 100644
--- a/src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java
+++ b/src/main/java/com/zy/core/task/ShuttleExecuteScheduler.java
@@ -18,29 +18,29 @@
@Component
public class ShuttleExecuteScheduler {
- @Autowired
- private ShuttleAction shuttleAction;
- @Autowired
- private DeviceConfigService deviceConfigService;
- @Autowired
- private RedisUtil redisUtil;
-
- @Scheduled(cron = "0/1 * * * * ? ")
- public void execute() {
- List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
- .eq("device_type", String.valueOf(SlaveType.Shuttle)));
- for (DeviceConfig deviceConfig : shuttleList) {
- Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + deviceConfig.getDeviceNo());
- if (object == null) {
- continue;
- }
-
- int taskNo = Integer.parseInt(String.valueOf(object));
- if (taskNo != 0) {
- //瀛樺湪浠诲姟闇�瑕佹墽琛�
- boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo);
- }
- }
- }
+// @Autowired
+// private ShuttleAction shuttleAction;
+// @Autowired
+// private DeviceConfigService deviceConfigService;
+// @Autowired
+// private RedisUtil redisUtil;
+//
+// @Scheduled(cron = "0/1 * * * * ? ")
+// public void execute() {
+// List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+// .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+// for (DeviceConfig deviceConfig : shuttleList) {
+// Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + deviceConfig.getDeviceNo());
+// if (object == null) {
+// continue;
+// }
+//
+// int taskNo = Integer.parseInt(String.valueOf(object));
+// if (taskNo != 0) {
+// //瀛樺湪浠诲姟闇�瑕佹墽琛�
+// boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo);
+// }
+// }
+// }
}
diff --git a/src/main/java/com/zy/core/thread/TrafficControlThread.java b/src/main/java/com/zy/core/thread/TrafficControlThread.java
index 3314b13..a12dd26 100644
--- a/src/main/java/com/zy/core/thread/TrafficControlThread.java
+++ b/src/main/java/com/zy/core/thread/TrafficControlThread.java
@@ -5,18 +5,9 @@
import com.zy.core.ThreadHandler;
import com.zy.core.model.TrafficControlDataModel;
-import java.util.HashMap;
import java.util.List;
public interface TrafficControlThread extends ThreadHandler {
-
-// boolean getDetecting();
-//
-// void updateDetect();
-//
-// boolean addNodes(Integer shuttleNo, Integer taskNo, List<NavigateNode> nodeList);
-//
-// boolean removeNodes(Integer shuttleNo, Integer taskNo);
boolean applyTrafficControl(List<NavigateNode> totalNodeList, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo);
@@ -28,6 +19,8 @@
boolean forceCancelTrafficControl(Integer shuttleNo);
+ TrafficControlDataModel queryTrafficControl(Integer shuttleNo, Integer taskNo);
+
TrafficControlDataModel queryTrafficControl(Integer shuttleNo);
List<TrafficControlDataModel> getAllTrafficControl();
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 19af9d7..312b527 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -52,6 +52,7 @@
private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private ShuttleProtocol shuttleProtocol;
+ private ShuttleAction shuttleAction = null;
private static final boolean DEBUG = false;//璋冭瘯妯″紡
@@ -88,38 +89,35 @@
});
readThread.start();
-// //璁惧鎵ц
-// Thread executeThread = new Thread(() -> {
-// while (true) {
-// try {
-// ShuttleAction shuttleAction = null;
-// try {
-// shuttleAction = SpringUtils.getBean(ShuttleAction.class);
-// }catch (Exception e){
-// continue;
-// }
-//
-// if (shuttleAction == null) {
-// continue;
-// }
-//
-// Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + deviceConfig.getDeviceNo());
-// if (object == null) {
-// continue;
-// }
-//
-// Integer taskNo = Integer.valueOf(String.valueOf(object));
-// if (taskNo != 0) {
-// //瀛樺湪浠诲姟闇�瑕佹墽琛�
-// boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo);
-// }
-// Thread.sleep(100);
-// } catch (Exception e) {
-// e.printStackTrace();
-// }
-// }
-// });
-// executeThread.start();
+ //璁惧鎵ц
+ Thread executeThread = new Thread(() -> {
+ while (true) {
+ try {
+ if (shuttleAction == null) {
+ try {
+ shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+ }catch (Exception e){
+ }
+ continue;
+ }
+
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + deviceConfig.getDeviceNo());
+ if (object == null) {
+ continue;
+ }
+
+ Integer taskNo = Integer.valueOf(String.valueOf(object));
+ if (taskNo != 0) {
+ //瀛樺湪浠诲姟闇�瑕佹墽琛�
+ boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo);
+ }
+ Thread.sleep(100);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ });
+ executeThread.start();
}
private void listenMessageFromRedis() {
@@ -1214,16 +1212,16 @@
private JSONObject queryCommandStatus(String resultKey) {
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
- // 灏濊瘯50娆�
JSONObject result = null;
- for (int i = 0; i < 50; i++) {
+ long startTime = System.currentTimeMillis();
+ while (true) {
+ if((System.currentTimeMillis() - startTime) > 1000 * 10) {
+ break;
+ }
+
result = getRequestBody(resultKey);
if (result == null) {
- try {
- Thread.sleep(500);
- } catch (Exception e) {
- e.printStackTrace();
- }
+ continue;
}else {
break;
}
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 9a3a6de..7fccedc 100644
--- a/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java
+++ b/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java
@@ -29,13 +29,8 @@
public class TrafficControlImplThread implements TrafficControlThread {
private RedisUtil redisUtil;
- private boolean detecting = false;
- private boolean updateDetect = false;
- private Long detectTime = System.currentTimeMillis();
- private HashMap<String, Integer> deviceMap = null;
- private HashMap<Integer, HashMap<String, List<Integer>>> levNodesMap = null;
-
+ private List<TrafficControlDataModel> applyList = new ArrayList<>();
private HashMap<Integer,Long> shuttleReportErrorMap = new HashMap<>();
private HashMap<Integer,Long> pathIdleShuttleMap = new HashMap<>();
private HashMap<Integer,Long> applyRecordsMap = new HashMap<>();
@@ -54,402 +49,40 @@
trafficControlDataList = (List<TrafficControlDataModel>) object;
}
-// List<Integer> shuttleNoList = new ArrayList<>();
-// while (true) {
-// try {
-// DeviceConfigService deviceConfigService = null;
-// try {
-// deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
-// }catch (Exception e){}
-//
-// if(deviceConfigService == null){
-// continue;
-// }
-//
-// if(shuttleNoList.isEmpty()){
-// List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
-// .eq("device_type", String.valueOf(SlaveType.Shuttle)));
-// for (DeviceConfig deviceConfig : shuttleList) {
-// shuttleNoList.add(deviceConfig.getDeviceNo());
-// }
-// }
-//
-// if((updateDetect) || ((System.currentTimeMillis() - detectTime) > 1000 * 2)) {
-// detect(shuttleNoList);
-// }
-// }catch (Exception e){
-// e.printStackTrace();
-// }
-// }
-
- }
-
- public synchronized void detect(List<Integer> shuttleNoList) {
- detecting = true;
- updateDetect = false;
- ObjectMapper objectMapper = null;
- try {
- objectMapper = SpringUtils.getBean(ObjectMapper.class);
- }catch (Exception e){}
-
- if(objectMapper == null){
- return;
- }
-
- HashMap<String, List<NavigateNode>> tmpTaskNodesMap = new HashMap<>();
- for (Integer shuttleNo : shuttleNoList) {
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if (shuttleProtocol.getTaskNo() == 0) {
- continue;
- }
-
- if (shuttleProtocol.getCurrentLocNo() == null) {
- continue;
- }
-
- int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
-
- Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
- if (obj == null) {
- continue;
- }
-
- ShuttleRedisCommand redisCommand = null;
+ while (true) {
try {
- redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
- } catch (IOException e) {
- throw new RuntimeException(e);
- }
-
- if (redisCommand == null) {
- continue;
- }
-
- ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
- if (assignCommand == null) {
- continue;
- }
-
- List<NavigateNode> nodeList = assignCommand.getNodesDeepCopy();
- if (nodeList == null || nodeList.isEmpty()) {
- continue;
- }
-
- tmpTaskNodesMap.put(shuttleProtocol.getTaskNo() + "-" + shuttleNo, nodeList);
- }
- this.taskNodesMap = tmpTaskNodesMap;
- HashMap<Integer, HashMap<String, List<Integer>>> levNodesMap = calcNodeList();
-
- HashMap<Integer, HashMap<String, List<Integer>>> levBlockMap = new HashMap<>();
- //杩囨护涓嶉渶瑕佺鍒惰妭鐐�
- for (Map.Entry<Integer, HashMap<String, List<Integer>>> entry : levNodesMap.entrySet()) {
- Integer lev = entry.getKey();
- HashMap<String, List<Integer>> value = entry.getValue();
-
- HashMap<String, List<Integer>> blockMap = new HashMap<>();
- for (Map.Entry<String, List<Integer>> listEntry : value.entrySet()) {
- String locNo = listEntry.getKey();
- List<Integer> shuttleNos = listEntry.getValue();
- if (shuttleNos.size() <= 1) {
+ if (applyList.isEmpty()) {
continue;
}
- blockMap.put(locNo, shuttleNos);
- }
- levBlockMap.put(lev, blockMap);
+ TrafficControlDataModel dataModel = applyList.get(0);
+ processApply(dataModel);
+ applyList.remove(0);
+ }catch (Exception e){
+ e.printStackTrace();
+ }
}
- //璁＄畻鍫靛鑼冨洿
- List<List<String>> allLocList = new ArrayList<>();
- List<List<Integer>> allDeviceNodes = new ArrayList<>();
- for (Map.Entry<Integer, HashMap<String, List<Integer>>> entry : levBlockMap.entrySet()) {
- Integer lev = entry.getKey();
- HashMap<String, List<Integer>> nodes = entry.getValue();
-
- Set<String> sets = new HashSet<>();
- for (Map.Entry<String, List<Integer>> val : nodes.entrySet()) {
- String locNo = val.getKey();
- sets.add(locNo);
- }
-
- List<List<String>> locList = TrafficControlUtils.groupNodes(sets);
- List<List<Integer>> deviceNodes = new ArrayList<>();
-
- //get devices
- for (List<String> list : locList) {
- List<List<Integer>> tmpDeviceNodes = new ArrayList<>();
- for (String loc : list) {
- List<Integer> shuttleNos = nodes.get(loc);
- if(!tmpDeviceNodes.contains(shuttleNos)) {
- tmpDeviceNodes.add(shuttleNos);
- }
- }
- //鑺傜偣骞堕泦-鑾峰彇鍫靛璁惧缂栧彿
- List<List<Integer>> deviceList = mergeConnectedComponents(tmpDeviceNodes);
- deviceNodes.addAll(deviceList);
- }
-
- allLocList.addAll(locList);
- allDeviceNodes.addAll(deviceNodes);
- }
-
- System.out.println(JSON.toJSONString(allLocList));
- System.out.println(JSON.toJSONString(allDeviceNodes));
-// //鍒嗛厤鍫靛鑺傜偣鍙墽琛岃澶�
-// findDeviceByBlockList(allLocList, allDeviceNodes);
-
- detecting = false;
- detectTime = System.currentTimeMillis();
-
-// //鍙戝竷鍫靛鑺傜偣鍙敤璁惧缂栧彿
-// redisUtil.set(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key, trafficControlDataList);
}
-// //鍒嗛厤鍫靛鑺傜偣鍙墽琛岃澶�
-// public void findDeviceByBlockList(List<List<String>> allLocList, List<List<Integer>> blockNodes) {
-// HashMap<String, Integer> map = new HashMap<>();
-// if (deviceMap == null) {
-// Object object = redisUtil.get(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key);
-// if (object != null) {
-// map = (HashMap<String, Integer>) object;
-// }
-// } else {
-// map = deviceMap;
-// }
-//
-// HashMap<String, Integer> newMap = new HashMap<>();
-//
-// for (int i = 0; i < blockNodes.size(); i++) {
-// List<Integer> blockNode = blockNodes.get(i);
-// List<String> locs = allLocList.get(i);
-//
-// String key = JSON.toJSONString(locs);
-//
-// Integer value = -1;
-// if (map.containsKey(key)) {
-// value = map.get(key);
-// map.remove(key);
-//
-// if (value > 0) {
-// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, value);
-// if (shuttleThread == null) {
-// continue;
-// }
-//
-// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
-// if (shuttleProtocol == null) {
-// continue;
-// }
-//
-// if (shuttleProtocol.getTaskNo() == 0) {
-// value = searchDevice(locs, blockNode, newMap);
-// }
-//
-// if (!shuttleProtocol.getTrafficControl()) {
-// value = searchDevice(locs, blockNode, newMap);
-// }
-// }else {
-// value = searchDevice(locs, blockNode, newMap);
-// }
-// } else {
-// value = searchDevice(locs, blockNode, newMap);
-// }
-// newMap.put(key, value);
-// }
-//
-// deviceMap = newMap;
-// //鍙戝竷鍫靛鑺傜偣鍙敤璁惧缂栧彿
-// redisUtil.set(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key, newMap);
-// }
-
- public Integer searchDevice(List<String> locs, List<Integer> blockNode, HashMap<String, Integer> deviceMap) {
- NavigateUtils navigateUtils = null;
- try {
- navigateUtils = SpringUtils.getBean(NavigateUtils.class);
- }catch (Exception e){}
-
- if(navigateUtils == null){
- return -1;
- }
-
- Integer value = -1;
- for (Integer shuttleNo : blockNode) {
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if (!shuttleThread.isDeviceIdle()) {
- continue;
- }
-
- if (shuttleProtocol.getTaskNo() == 0) {
- continue;
- }
-
- if (!shuttleProtocol.getTrafficControl()) {
- continue;//灏忚溅鏈敵璇蜂氦閫氱鍒�
- }
-
- //妫�娴嬪皬杞︽槸鍚﹀凡缁忓垎閰�
- if (deviceMap.containsValue(shuttleNo)) {
- continue;
- }
-
- List<NavigateNode> trafficControlNodes = shuttleProtocol.getTrafficControlNodes();
- List<String> trafficControlLocs = new ArrayList<>();
- for (NavigateNode node : trafficControlNodes) {
- trafficControlLocs.add(Utils.getLocNo(node.getX(), node.getY(), node.getZ()));
- }
-
- //妫�娴嬪綋鍓嶅皬杞﹁妭鐐规槸鍚﹀尮閰嶄氦閫氱鍒惰妭鐐�
- boolean result = false;
- for (String loc : locs) {
- if (trafficControlLocs.contains(loc)) {
- result = true;
- break;
- }
- }
-
- if (!result) {
- continue;
- }
-
- //check path
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
- for (String loc : locs) {
- if (loc.equals(currentLocNo)) {
- continue;
- }
- List<NavigateNode> nodeList = navigateUtils.calc(currentLocNo, loc, NavigationMapType.getNormalWithDevice(), Utils.getShuttlePoints(shuttleNo, Utils.getLev(loc)), null);
- if (nodeList == null) {
- break;
- }
- }
-
- value = shuttleNo;
- break;
- }
-
- return value;
- }
-
- //鑺傜偣骞堕泦
- public List<List<Integer>> mergeConnectedComponents(List<List<Integer>> lists) {
- // 1. 鏀堕泦鎵�鏈夊敮涓�鍏冪礌
- Set<Integer> allElements = new HashSet<>();
- for (List<Integer> list : lists) {
- allElements.addAll(list);
- }
-
- // 2. 鍒濆鍖栧苟鏌ラ泦
- Map<Integer, Integer> parent = new HashMap<>();
- for (Integer element : allElements) {
- parent.put(element, element);
- }
-
- // 3. 瀹氫箟鏌ユ壘鏍硅妭鐐圭殑鍑芥暟锛堝甫璺緞鍘嬬缉锛�
- Function<Integer, Integer> find = x -> {
- int root = x;
- while (parent.get(root) != root) {
- root = parent.get(root);
- }
- // 璺緞鍘嬬缉
- int current = x;
- while (parent.get(current) != root) {
- int next = parent.get(current);
- parent.put(current, root);
- current = next;
- }
- return root;
- };
-
- // 4. 閬嶅巻姣忎釜鍒楄〃骞跺悎骞跺厓绱�
- for (List<Integer> list : lists) {
- if (list.isEmpty()) continue;
- int first = list.get(0);
- for (int i = 1; i < list.size(); i++) {
- int a = first;
- int b = list.get(i);
- int rootA = find.apply(a);
- int rootB = find.apply(b);
- if (rootA != rootB) {
- parent.put(rootB, rootA); // 鍚堝苟闆嗗悎
- }
- }
- }
-
- // 5. 鎸夋牴鑺傜偣鍒嗙粍
- Map<Integer, Set<Integer>> components = new HashMap<>();
- for (Integer element : allElements) {
- int root = find.apply(element);
- components.computeIfAbsent(root, k -> new TreeSet<>()).add(element);
- }
-
- // 6. 杞崲涓烘湁搴忓垪琛�
- List<List<Integer>> result = new ArrayList<>();
- for (Set<Integer> set : components.values()) {
- result.add(new ArrayList<>(set));
- }
-
- return result;
- }
-
- private HashMap<Integer, HashMap<String, List<Integer>>> calcNodeList() {
- HashMap<Integer, HashMap<String, List<Integer>>> levNodesMap = new HashMap<>();
- for (Map.Entry<String, List<NavigateNode>> entry : taskNodesMap.entrySet()) {
- String key = entry.getKey();
- String[] split = key.split("-");
- Integer taskNo = Integer.parseInt(split[0]);
- Integer shuttleNo = Integer.parseInt(split[1]);
-
- List<NavigateNode> nodeList = entry.getValue();
- NavigateNode node1 = nodeList.get(0);
- int lev = node1.getZ();
-
- HashMap<String, List<Integer>> nodeMap = new HashMap<>();
- if(levNodesMap.containsKey(lev)) {
- nodeMap = levNodesMap.get(lev);
- }
-
- for (NavigateNode node : nodeList) {
- String locNo = Utils.getLocNo(node.getX(), node.getY(), lev);
- List<Integer> shuttleNos = new ArrayList<>();
- if (nodeMap.containsKey(locNo)) {
- shuttleNos = nodeMap.get(locNo);
- }
-
- if (!shuttleNos.contains(shuttleNo)) {
- shuttleNos.add(shuttleNo);
- }
- nodeMap.put(locNo, shuttleNos);
- }
- levNodesMap.put(lev, nodeMap);
- }
- this.levNodesMap = levNodesMap;
- return levNodesMap;
- }
-
- @Override
- public synchronized boolean applyTrafficControl(List<NavigateNode> totalNodeList, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
+ public synchronized boolean processApply(TrafficControlDataModel applyData) {
ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class);
if (shuttleOperaUtils == null) {
return false;
}
+
+ if (applyData == null) {
+ return false;
+ }
+
+ if (applyData.getShuttleNo() == null || applyData.getTaskNo() == null || applyData.getNodeList() == null || applyData.getTotalNodeList() == null) {
+ return false;
+ }
+
+ Integer shuttleNo = applyData.getShuttleNo();
+ Integer taskNo = applyData.getTaskNo();
+ List<NavigateNode> nodeList = applyData.getNodeList();
+ List<NavigateNode> totalNodeList = applyData.getTotalNodeList();
//鏇存柊浜ょ淇℃伅
redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_MAP.key, trafficControlDataList);
@@ -488,7 +121,7 @@
}
}
- News.info("traffic running {},{}", shuttleNo, taskNo);
+// News.info("traffic running {},{}", shuttleNo, taskNo);
return true;//宸茬粡绠″埗鍏佽鎵ц
}
}
@@ -561,15 +194,34 @@
}
//浜ょ鎺ユ敹
- TrafficControlDataModel model = new TrafficControlDataModel();
- model.setShuttleNo(shuttleNo);
- model.setTaskNo(taskNo);
- model.setNodeList(nodeList);
- model.setTotalNodeList(totalNodeList);
- trafficControlDataList.add(model);
+ trafficControlDataList.add(applyData);
applyRecordsMap.remove(shuttleNo);
News.info("receipt traffic {},{}", shuttleNo, taskNo);
+ return true;
+ }
+
+ @Override
+ public synchronized boolean applyTrafficControl(List<NavigateNode> totalNodeList, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
+ boolean add = true;
+ for (TrafficControlDataModel controlDataModel : applyList) {
+ if(controlDataModel.getShuttleNo().equals(shuttleNo)) {
+ add = false;
+ break;
+ }
+ }
+
+ if (add) {
+ TrafficControlDataModel model = new TrafficControlDataModel();
+ model.setShuttleNo(shuttleNo);
+ model.setTaskNo(taskNo);
+ model.setNodeList(nodeList);
+ model.setTotalNodeList(totalNodeList);
+ applyList.add(model);
+ }else {
+ return false;
+ }
+
return true;
}
@@ -654,6 +306,20 @@
}
@Override
+ public TrafficControlDataModel queryTrafficControl(Integer shuttleNo, Integer taskNo) {
+ //妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
+ for (int i = 0; i < trafficControlDataList.size(); i++) {
+ TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
+ if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
+ if(controlDataModel.getTaskNo().equals(taskNo)) {
+ return controlDataModel;
+ }
+ }
+ }
+ return null;
+ }
+
+ @Override
public TrafficControlDataModel queryTrafficControl(Integer shuttleNo) {
//妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
for (int i = 0; i < trafficControlDataList.size(); i++) {
diff --git a/src/main/webapp/views/console.html b/src/main/webapp/views/console.html
index 93c1aa3..538a39d 100644
--- a/src/main/webapp/views/console.html
+++ b/src/main/webapp/views/console.html
@@ -358,17 +358,13 @@
},
methods: {
init() {
- this.ws = new WebSocket("ws://" + window.location.host + baseUrl + "/console/websocket");
- this.ws.onopen = this.webSocketOnOpen
- this.ws.onerror = this.webSocketOnError
- this.ws.onmessage = this.webSocketOnMessage
- this.ws.onclose = this.webSocketClose
-
this.getMap(this.currentLev)
this.getSystemRunningStatus() //鑾峰彇绯荤粺杩愯鐘舵��
this.initLev()//鍒濆鍖栨ゼ灞備俊鎭�
this.consoleInterval = setInterval(() => {
+ this.websocketConnect()
+
this.getShuttleStateInfo() //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
this.getLiftStateInfo() //鑾峰彇鎻愬崌鏈轰俊鎭�
this.getSiteInfo() //鑾峰彇杈撻�佺珯鐐规暟鎹�
@@ -709,10 +705,20 @@
}
}
},
+ websocketConnect() {
+ if (this.ws == null) {
+ this.ws = new WebSocket("ws://" + window.location.host + baseUrl + "/console/websocket");
+ this.ws.onopen = this.webSocketOnOpen
+ this.ws.onerror = this.webSocketOnError
+ this.ws.onmessage = this.webSocketOnMessage
+ this.ws.onclose = this.webSocketClose
+ }
+ },
webSocketOnOpen(e) {
console.log("open");
},
webSocketOnError(e) {
+ this.ws = null;
console.log(e);
},
webSocketOnMessage(e) {
@@ -730,11 +736,16 @@
}
},
webSocketClose(e) {
+ this.ws = null;
console.log("close");
},
sendWs(message) {
+ if (this.ws == null) {
+ return;
+ }
+
if (this.ws.readyState == WebSocket.OPEN) {
- this.ws.send(message)
+ this.ws.send(message);
}
}
}
diff --git a/src/main/webapp/views/shuttleNew.html b/src/main/webapp/views/shuttleNew.html
index a1362ac..ef80807 100644
--- a/src/main/webapp/views/shuttleNew.html
+++ b/src/main/webapp/views/shuttleNew.html
@@ -202,7 +202,7 @@
</div>
</div>
<div class="bg-slate-700 p-4 rounded-lg">
- <h3 class="text-lg font-medium mb-2">璁惧缁存姢</h3>
+ <h3 class="text-lg font-medium mb-2">璁惧鎸囦护</h3>
<div class="flex flex-wrap gap-2" style="display: flex;justify-content: center;">
<button class="btn bg-slate-600 hover:bg-slate-500" @click="shuttleOperator('palletLift')">
<i class="fas fa-level-up mr-1"></i>鎵樼洏椤跺崌
@@ -406,9 +406,9 @@
},
methods: {
init() {
- this.websocketConnect();
-
this.consoleInterval = setInterval(() => {
+ this.websocketConnect();
+
this.getShuttleStateInfo() //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
}, 1000)
},
@@ -594,18 +594,20 @@
});
},
websocketConnect() {
- this.ws = new WebSocket("ws://" + window.location.host + baseUrl + "/console/websocket");
- this.ws.onopen = this.webSocketOnOpen
- this.ws.onerror = this.webSocketOnError
- this.ws.onmessage = this.webSocketOnMessage
- this.ws.onclose = this.webSocketClose
+ if (this.ws == null) {
+ this.ws = new WebSocket("ws://" + window.location.host + baseUrl + "/console/websocket");
+ this.ws.onopen = this.webSocketOnOpen
+ this.ws.onerror = this.webSocketOnError
+ this.ws.onmessage = this.webSocketOnMessage
+ this.ws.onclose = this.webSocketClose
+ }
},
webSocketOnOpen(e) {
console.log("open");
},
webSocketOnError(e) {
+ this.ws = null;
console.log(e);
- this.websocketConnect();
},
webSocketOnMessage(e) {
const result = JSON.parse(e.data);
@@ -614,12 +616,16 @@
}
},
webSocketClose(e) {
+ this.ws = null;
console.log("close");
- this.websocketConnect();
},
sendWs(message) {
+ if (this.ws == null) {
+ return;
+ }
+
if (this.ws.readyState == WebSocket.OPEN) {
- this.ws.send(message)
+ this.ws.send(message);
}
}
}
--
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