From 77e767cb0eb936b18353a7c9e73eb5ba4aa826d3 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 10 五月 2023 09:50:09 +0800
Subject: [PATCH] 实时更新地图
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 153 +++++++++++++++++++++++++--------------------------
1 files changed, 75 insertions(+), 78 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 871654e..c97a92f 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -29,10 +29,7 @@
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.LiftAssignCommand;
-import com.zy.core.model.command.LiftCommand;
-import com.zy.core.model.command.ShuttleAssignCommand;
-import com.zy.core.model.command.ShuttleCommand;
+import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
@@ -41,7 +38,6 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
-import java.util.HashMap;
import java.util.List;
/**
@@ -182,37 +178,34 @@
if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
//鍑虹幇閿欒
- reset(shuttleProtocol.getAssignCommand());
+ resetAndTryFix(shuttleProtocol.getTaskNo());
}
if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
&& shuttleProtocol.getTaskNo() != 0
- && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
- && shuttleProtocol.getAssignCommand() != null){
+ && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE){
//澶勪簬鏁呴殰淇鐘舵��
//鎵ц涓嬩竴姝ユ寚浠�
- executeWork(shuttleProtocol.getAssignCommand());
+ executeWork(shuttleProtocol.getTaskNo());
}
//鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
&& shuttleProtocol.getTaskNo() != 0
- && shuttleProtocol.getPakMk()
- && shuttleProtocol.getAssignCommand() != null) {
+ && shuttleProtocol.getPakMk()) {
//鎵ц涓嬩竴姝ユ寚浠�
- executeWork(shuttleProtocol.getAssignCommand());
+ executeWork(shuttleProtocol.getTaskNo());
}
//妫�娴嬫槸鍚︽湁鎻愬崌鏈洪攣瀹氭爣璁帮紝鏈夊垯妫�娴嬫彁鍗囨満鏄惁鍒颁綅锛屾槸鍚﹁兘璧颁笅涓�姝ュ懡浠�
if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
- && shuttleProtocol.getTaskNo() != 0
- && shuttleProtocol.getAssignCommand() != null) {
- Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getAssignCommand().getTaskNo());
+ && shuttleProtocol.getTaskNo() != 0) {
+ Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getTaskNo());
if (o != null) {
- HashMap map = JSON.parseObject(o.toString(), HashMap.class);
- if (map.containsKey("liftSecurityMk") && Boolean.parseBoolean(map.get("liftSecurityMk").toString())) {
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ if (redisCommand.getLiftSecurityMk()) {
//鎵ц涓嬩竴姝ユ寚浠�
- executeWork(shuttleProtocol.getAssignCommand());
+ executeWork(shuttleProtocol.getTaskNo());
}
}
}
@@ -290,6 +283,18 @@
return false;
}
+ BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+ if (shuttleService == null) {
+ News.error("绯荤粺閿欒");
+ return false;
+ }
+
+ BasShuttle basShuttle = shuttleService.selectById(slave.getId().shortValue());
+ if (basShuttle == null) {
+ News.error("鍥涘悜绌挎杞︿笉瀛樺湪");
+ return false;
+ }
+
command.setShuttleNo(slave.getId().shortValue());
// 寮�濮嬩换鍔�
short[] array = new short[17];
@@ -324,6 +329,7 @@
array[7] = middleToDistDistances[1];
}
+ array[8] = basShuttle.getRunSpeed().shortValue();//鍥涘悜绌挎杞﹁繍琛岄�熷害锛屼粠绯荤粺鏁版嵁搴撹鍑�
if (command.getRunDirection() != null) {
//灏忚溅杩愯鏂瑰悜
array[8] = command.getRunDirection();
@@ -387,8 +393,6 @@
//鍒嗛厤浠诲姟
private void assignWork(ShuttleAssignCommand assignCommand) {
- //灏嗘map瀛樺叆redis涓�
- HashMap<String, Object> map = new HashMap<>();
if (!assignCommand.getAuto()) {
List<ShuttleCommand> commands = new ArrayList<>();
ShuttleCommand command = new ShuttleCommand();
@@ -624,46 +628,42 @@
assignCommand.setCommands(commands);
}
- //鍥涘悜绌挎杞﹀彿
- map.put("shuttle_no", assignCommand.getShuttleNo());
- //宸ヤ綔鍙�
- map.put("wrk_no", assignCommand.getTaskNo());
- //鍛戒护鎵ц姝ュ簭
- map.put("commandStep", 0);
- //鍛戒护
- map.put("assignCommand", assignCommand);
- //鍙戠敓閿欒鏃跺皾璇曟墽琛岀殑鎸囦护锛屼紭鍏堢骇鏈�楂�
- map.put("errorCommands", new ArrayList<ShuttleCommand>());
+ ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
+ redisCommand.setShuttleNo(assignCommand.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ redisCommand.setWrkNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
+ redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
+ redisCommand.setAssignCommand(assignCommand);//鍛戒护
+ redisCommand.setErrorCommands(new ArrayList<ShuttleCommand>());//鍙戠敓閿欒鏃跺皾璇曟墽琛岀殑鎸囦护锛屼紭鍏堢骇鏈�楂�
shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
shuttleProtocol.setAssignCommand(assignCommand);
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
//鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand);
+ executeWork(assignCommand.getTaskNo());
}
//鎵ц涓嬪彂鐨勬寚浠�
- private boolean executeWork(ShuttleAssignCommand assignCommand) {
+ private boolean executeWork(Short wrkNo) {
//璇诲彇redis鏁版嵁
- if (assignCommand == null) {
+ if (wrkNo == null) {
return false;
}
- Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+ Object o = redisUtil.get("wrk_no_" + wrkNo);
if (o == null) {
return false;
}
- HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
- if (!checkLiftStation(assignCommand)) {//妫�娴嬫槸鍚︽湁鎻愬崌鏈虹珯鐐癸紝鏈夊垯璋冨害鎻愬崌鏈�
+ if (!checkLiftStation(wrkNo)) {//妫�娴嬫槸鍚︽湁鎻愬崌鏈虹珯鐐癸紝鏈夊垯璋冨害鎻愬崌鏈�
return false;
}
//灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
shuttleProtocol.setPakMk(false);
- List<ShuttleCommand> errorCommands = JSON.parseArray(map.get("errorCommands").toString(),ShuttleCommand.class);
+ List<ShuttleCommand> errorCommands = redisCommand.getErrorCommands();
if (errorCommands.size() > 0) {
//浼樺厛鎵ц璇ユ寚浠�
ShuttleCommand errorCommand = errorCommands.get(0);//鍙栧嚭鎸囦护
@@ -675,15 +675,15 @@
if (shuttleProtocol.getCurrentCode().equals(errorCommand.getStartCodeNum())) {
//璧风偣鍜岀粓鐐瑰睘浜庡悓涓�搴撲綅锛屾棤闇�鍐嶆墽琛岀Щ鍔ㄦ搷浣�
errorCommands.remove(0);//绉婚櫎璇ュ懡浠�
- map.put("errorCommands", new ArrayList<ShuttleCommand>());
+ redisCommand.setErrorCommands(new ArrayList<ShuttleCommand>());
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
//褰撳墠姝ュ簭
- int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ int commandStep = redisCommand.getCommandStep();
//姝ュ簭鍥為��
commandStep--;
- map.put("commandStep", commandStep);
+ redisCommand.setCommandStep(commandStep);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
shuttleProtocol.setPakMk(true);
return true;
}else {
@@ -717,10 +717,10 @@
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
//褰撳墠姝ュ簭
- int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ int commandStep = redisCommand.getCommandStep();
//姝ュ簭鍥為��
commandStep--;
- map.put("commandStep", commandStep);
+ redisCommand.setCommandStep(commandStep);
}
if (!write(errorCommand)) {
@@ -729,18 +729,19 @@
} else {
News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙戞垚鍔燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(errorCommand));
errorCommands.remove(0);
- map.put("errorCommands", errorCommands);
+ redisCommand.setErrorCommands(errorCommands);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
return true;
}
}
- List<ShuttleCommand> commands = assignCommand.getCommands();
+ List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
//褰撳墠姝ュ簭
- int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ int commandStep = redisCommand.getCommandStep();
//path璺緞鏁扮洰
int size = commands.size();
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
//鍙栧嚭鍛戒护
ShuttleCommand command = commands.get(commandStep);
@@ -766,9 +767,9 @@
//鏇存柊redis鏁版嵁
//姝ュ簭澧炲姞
commandStep++;
- map.put("commandStep", commandStep);
+ redisCommand.setCommandStep(commandStep);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
+ redisUtil.set("wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
}else {
//宸叉墽琛屽畬鎴�
//淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
@@ -789,7 +790,7 @@
shuttleOptService.insert(opt);
}
- if (map.containsKey("liftSecurityMk") && Boolean.parseBoolean(map.get("liftSecurityMk").toString())) {
+ if (redisCommand.getLiftSecurityMk()) {
//鏇鹃攣瀹氳繃鎻愬崌鏈猴紝闇�瑕佽繘琛岃В閿�
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
@@ -799,20 +800,16 @@
}
//鍒犻櫎redis
- redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
+ redisUtil.del("wrk_no_" + redisCommand.getWrkNo());
if (!assignCommand.getAuto()) {
//鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬侊紝鐩存帴澶嶄綅
- if (assignCommand.getTaskMode() == 9) {
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo((short) 0);
- //鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- shuttleProtocol.setAssignCommand(null);
- }
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+ //鏍囪澶嶄綅
+ shuttleProtocol.setPakMk(true);
News.info("鍥涘悜绌挎杞︽墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
}else {
if (!assignCommand.getCharge()) {
@@ -833,22 +830,22 @@
/**
* 妫�娴嬫槸鍚︽湁鎻愬崌鏈虹珯鐐癸紝鏈夊垯璋冨害鎻愬崌鏈�
*/
- private boolean checkLiftStation(ShuttleAssignCommand assignCommand) {
+ private boolean checkLiftStation(Short wrkNo) {
//璇诲彇redis鏁版嵁
- if (assignCommand == null) {
+ if (wrkNo == null) {
return false;
}
- Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+ Object o = redisUtil.get("wrk_no_" + wrkNo);
if (o == null) {
return false;
}
- HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
//褰撳墠姝ュ簭
- int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ int commandStep = redisCommand.getCommandStep();
//妫�娴嬫槸鍚﹀瓨鍦ㄦ彁鍗囨満鍙ｇ殑鎸囦护
- List<ShuttleCommand> commands = assignCommand.getCommands();
+ List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
ArrayList<Short> qrCodeValues = new ArrayList<>();
for (BasDevp basDevp : basDevpService.selectList(null)) {
@@ -926,9 +923,9 @@
liftProtocol.setShuttleNo(shuttleProtocol.getShuttleNo());//璁剧疆鍥涘悜绌挎杞﹀彿
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
liftProtocol.setSecurityMk(true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
- map.put("liftSecurityMk", true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
+ redisCommand.setLiftSecurityMk(true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
//鍛戒护list
ArrayList<LiftCommand> liftCommands = new ArrayList<>();
@@ -953,21 +950,21 @@
/**
* 澶嶄綅骞跺皾璇曚慨澶嶉敊璇�
*/
- private boolean reset(ShuttleAssignCommand assignCommand) {
+ private boolean resetAndTryFix(Short wrkNo) {
//璇诲彇redis鏁版嵁
- if (assignCommand == null) {
+ if (wrkNo == null) {
return false;
}
- Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+ Object o = redisUtil.get("wrk_no_" + wrkNo);
if (o == null) {
return false;
}
- HashMap map = JSON.parseObject(o.toString(), HashMap.class);
- List<ShuttleCommand> commands = assignCommand.getCommands();
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
//褰撳墠姝ュ簭
- int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ int commandStep = redisCommand.getCommandStep();
//path璺緞鏁扮洰
int size = commands.size();
@@ -1028,9 +1025,9 @@
moveCommand.setStartCodeNum(command.getStartCodeNum());//瀛樺叆鐩爣搴撲綅鍙�
list.add(moveCommand);
- map.put("errorCommands", list);
+ redisCommand.setErrorCommands(list);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.FIXING);
return true;
}
--
Gitblit v1.9.1