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 | 181 +++++++++++++++++++++++++++++---------------
1 files changed, 118 insertions(+), 63 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index 7ec573f..750c8c2 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -87,7 +87,7 @@
private void read() {
try {
- if (this.socket == null || !this.socket.isConnected()) {
+ if (this.socket == null || this.socket.isClosed()) {
//閾炬帴鏂紑閲嶆柊閾炬帴
this.connect();
}
@@ -117,7 +117,8 @@
NyShuttleHttpCommand readStatusCommand = NyHttpUtils.getReadStatusCommand(slave.getId());
JSONObject jsonObject = NyHttpUtils.requestCommand(socket, readStatusCommand);
if (jsonObject == null) {
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
}else {
//鎵嬪姩鐘舵��/鑷姩鐘舵��
shuttleProtocol.setWorkingMode(jsonObject.getInteger("workingMode"));
@@ -175,6 +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�
@@ -243,7 +258,15 @@
}
} catch (Exception e) {
e.printStackTrace();
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ try {
+ this.socket.close();
+ this.socket = null;
+ Thread.sleep(1000);
+ this.connect();
+ } catch (IOException | InterruptedException exception) {
+ e.printStackTrace();
+ }
}
}
@@ -254,6 +277,7 @@
socket.setSoTimeout(60000);
socket.setKeepAlive(true);
this.socket = socket;
+ log.info(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
} catch (IOException e) {
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
}
@@ -283,7 +307,21 @@
}
//鍙戝嚭璇锋眰
- JSONObject result = NyHttpUtils.requestCommand(socket, command);
+ JSONObject result = null;
+ try {
+ result = NyHttpUtils.requestCommand(socket, command);
+ } catch (IOException e) {
+ try {
+ this.socket.close();
+ this.socket = null;
+ Thread.sleep(1000);
+ this.connect();
+ } catch (IOException exception) {
+ exception.printStackTrace();
+ } catch (InterruptedException ex) {
+ throw new RuntimeException(ex);
+ }
+ }
if (result == null) {
return false;//璇锋眰澶辫触
}
@@ -333,62 +371,64 @@
NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
//鍙栧嚭鍛戒护
NyShuttleHttpCommand command = commands.get(commandStep);//褰撳墠鍛戒护
-// if (commandStep != 0) {
-// //鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀畬鎴�
-// NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
-// String requestType = lastCommand.getRequest().getBody().get("requestType").toString();
-// if (requestType.equals("move") || requestType.equals("intoLift") || requestType.equals("outLift")) {
-// //绉诲姩鍛戒护銆佸嚭鍏ユ彁鍗囨満鍛戒护
-// NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(lastCommand.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
-// if (shuttleProtocol.getPoint().equals(target)) {
-// //涓婁竴鏉℃寚浠ょ殑鐩爣浣嶇疆鍜屽綋鍓嶅皬杞︿綅缃浉鍚岋紝鍒欒瀹氫笂涓�鏉′换鍔″畬鎴�
-// lastCommand.setComplete(true);
-// //瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰勫拰褰撳墠璺緞
-// List<NavigateNode> nodes = lastCommand.getNodes();
-// nodes.addAll(command.getNodes());
-// navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
-// }
-// }else {
-// lastCommand.setComplete(true);//鍏朵粬鍛戒护榛樿璁や负瀹屾垚
-// }
-// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
-// redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
-//
-// if (!lastCommand.getComplete()) {
-// //涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
-// return false;
-// }
-// }
-//
-// List<NavigateNode> nextNodes = null;//涓嬩竴姝ュ懡浠よ璧拌矾寰�
-// if (commandStep + 1 < commands.size()) {
-// NyShuttleHttpCommand nextCommand = commands.get(commandStep + 1);//涓嬩竴姝ュ懡浠�
-// nextNodes = nextCommand.getNodes();//涓嬩竴姝ュ懡浠よ璧拌矾寰�
-// }
-//
-// if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
-// return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
-// }
-//
+ if (commandStep != 0) {
+ //鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀畬鎴�
+ NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
+ String requestType = lastCommand.getRequest().getBody().get("requestType").toString();
+ if (requestType.equals("move") || requestType.equals("intoLift") || requestType.equals("outLift")) {
+ //绉诲姩鍛戒护銆佸嚭鍏ユ彁鍗囨満鍛戒护
+ NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(lastCommand.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
+ if (shuttleProtocol.getPoint().equals(target)) {
+ //涓婁竴鏉℃寚浠ょ殑鐩爣浣嶇疆鍜屽綋鍓嶅皬杞︿綅缃浉鍚岋紝鍒欒瀹氫笂涓�鏉′换鍔″畬鎴�
+ lastCommand.setComplete(true);
+ //瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰勫拰褰撳墠璺緞
+ List<NavigateNode> nodes = lastCommand.getNodes();
+ nodes.addAll(command.getNodes());
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ }
+ }else {
+ lastCommand.setComplete(true);//鍏朵粬鍛戒护榛樿璁や负瀹屾垚
+ }
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+
+ if (!lastCommand.getComplete()) {
+ //涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
+ return false;
+ }
+ }
+
+ List<NavigateNode> nextNodes = null;//涓嬩竴姝ュ懡浠よ璧拌矾寰�
+ if (commandStep + 1 < commands.size()) {
+ NyShuttleHttpCommand nextCommand = commands.get(commandStep + 1);//涓嬩竴姝ュ懡浠�
+ nextNodes = nextCommand.getNodes();//涓嬩竴姝ュ懡浠よ璧拌矾寰�
+ }
+
+ if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
+ return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
+ }
+
// //妫�娴嬪皬杞︽槸鍚﹁杩涙彁鍗囨満锛屽闇�瑕佽繘鎻愬崌鏈哄垯璋冨害鎻愬崌鏈�
// if (!checkLiftStation(wrkNo)) {
// return false;
// }
-//
-// //妫�娴嬬┛姊溅鏄惁鍦ㄦ彁鍗囨満鍐�
-// if (!checkShuttleInTheLift(wrkNo)) {
-// return false;
-// }
-//
-// //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
-// if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
-// return false;
-// }
-//
-// //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);
-// navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
+ //妫�娴嬬┛姊溅鏄惁鍦ㄦ彁鍗囨満鍐�
+ if (!checkShuttleInTheLift(wrkNo)) {
+ return false;
+ }
+
+ //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
+ if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
+ return false;
+ }
+
+ //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();
+ 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�
if (!write(command)) {
@@ -414,7 +454,8 @@
null,
null,
JSON.toJSONString(command),
- null
+ null,
+ JSON.toJSONString(shuttleProtocol)
);
shuttleOptService.insert(opt);
}
@@ -430,8 +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
@@ -548,7 +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());
@@ -563,6 +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�
@@ -576,9 +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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