From 8254197b29064846c3eafc916e340b74434fde6a Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 19 九月 2023 11:17:57 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 44 +++++++++++++++++++++++++++++++++++++-------
1 files changed, 37 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index b84f13c..750c8c2 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -176,6 +176,20 @@
//灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓簍rue
if (shuttleProtocol.getFree() == 0) {
shuttleProtocol.setPakMk(true);
+ }else {
+ //灏忚溅澶勪簬绛夊緟纭涓旂┖闂茬姸鎬侊紝濡傛湁宸ヤ綔鍙峰垯娓呯┖璺緞
+ if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.IDLE) {
+ Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
+ if (o != null) {
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//瑙ｉ攣璺緞
+
+ //鍒犻櫎redis
+ redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
+ }
+ }
}
//灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
@@ -411,7 +425,9 @@
//閿佸畾璺緞锛岄攣瀹氬綋鍓嶈矾寰勫拰涓嬩竴姝ヨ矾寰�
List<NavigateNode> nodes = command.getNodes();
- nodes.addAll(nextNodes);
+ if (nextNodes != null) {
+ nodes.addAll(nextNodes);
+ }
navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
//鍙墽琛屽懡浠�
@@ -455,8 +471,12 @@
}else {
//宸叉墽琛屽畬鎴�
- //鍒犻櫎redis
- redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
+ //鏈�鍚庝竴娈靛懡浠や负绉诲姩鍛戒护锛屽垯鏆傜紦鍒犻櫎redis绛夊緟娓呴櫎璺緞鏃朵竴娆℃�у垹闄�
+ //鏈�鍚庝竴娈靛懡浠や负涓嶆槸绉诲姩鍛戒护锛屽垯鍒犻櫎redis
+ if (!command.getRequest().getBody().get("requestType").equals("move")) {
+ //鍒犻櫎redis
+ redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
+ }
if (!assignCommand.getCharge()) {
//瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
@@ -573,7 +593,9 @@
if (basLift == null) {
continue;
}
- if (basLift.getPoint().equals(shuttleProtocol.getPoint())) {
+ Integer liftX = basLift.getPoint$().getX();
+ Integer liftY = basLift.getPoint$().getY();
+ if (liftX.equals(shuttleProtocol.getPoint().getX()) && liftY.equals(shuttleProtocol.getPoint().getY())) {
//灏忚溅鍦ㄦ彁鍗囨満鍐�
//鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
@@ -588,6 +610,8 @@
//鎻愬崌鏈哄浜庣┖闂诧紝鏀捐
return true;
}
+ }else {
+ return true;//涓嶅湪鎻愬崌鏈哄唴锛屾斁琛�
}
}
return false;//榛樿涓嶆斁琛�
@@ -601,9 +625,15 @@
//妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋(妫�鏌ヨ矾寰勯攣瀹氱姸鎬侊紝妫�娴嬭矾寰勬槸鍚︽湁鍏朵粬灏忚溅)
//妫�娴嬪綋鍓嶈璧拌矾寰勶紝鍜屼笅涓�姝ヨ矾寰�
boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
- boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
- if (checkPathIsAvailable && checkPathIsAvailable2) {
- return true;//鍙璧�
+ if (nextNodes == null) {
+ if (checkPathIsAvailable) {
+ return true;//鍙璧�
+ }
+ }else {
+ boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ if (checkPathIsAvailable && checkPathIsAvailable2) {
+ return true;//鍙璧�
+ }
}
ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
--
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