From 877b2519157cea762b1e63e9c57c09614216d684 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 24 七月 2025 19:27:46 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/action/ShuttleAction.java | 584 +++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 455 insertions(+), 129 deletions(-)
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index 1bfe527..393d2cb 100644
--- a/src/main/java/com/zy/core/action/ShuttleAction.java
+++ b/src/main/java/com/zy/core/action/ShuttleAction.java
@@ -13,31 +13,30 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
-import com.zy.common.ExecuteSupport;
import com.zy.common.model.NavigateNode;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateMapUtils;
+import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
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;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.thread.ShuttleThread;
+import com.zy.core.thread.TrafficControlThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.io.IOException;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-import java.util.Random;
+import java.util.*;
@Component
public class ShuttleAction {
@@ -65,6 +64,17 @@
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
if (shuttleThread == null) {
return false;
+ }
+
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ if(trafficControlThread == null){
+ return false;
+ }
+
+ //娓呯┖涓嬪彂绱㈠紩
+ Set<String> keys = redisUtil.searchKeys(RedisKeyType.SHUTTLE_SEND_COMMAND_INDEX.key + shuttleNo);
+ for (String key : keys) {
+ redisUtil.del(key);
}
ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
@@ -113,139 +123,69 @@
return false;
}
- List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
- if (commands.isEmpty()) {
+ //妫�娴嬪懡浠�
+ int checked = checkCommand(redisCommand, shuttleNo);
+ if (checked == 0) {
return false;
}
ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
- int commandStep = redisCommand.getCommandStep();
-
- Integer mode = -1;
- if(commandStep < commands.size()) {
- //鍙栧嚭鍛戒护
- ShuttleCommand currentCommand = commands.get(commandStep);
- mode = currentCommand.getMode();
- }
-
- //鍒ゆ柇璁惧鏄惁绌洪棽
- Integer finalMode = mode;
- if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
- @Override
- public Boolean judgement() {
- if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(finalMode)) {//鍏抽棴鍏呯數
- return false;//涓嶉渶瑕佸垽鏂姸鎬�
- }
- return true;//闇�瑕佸垽鏂姸鎬�
- }
- })) {
+ List<ShuttleCommand> commands = assignCommand.getCommands();
+ if (commands.isEmpty()) {
return false;
}
- // 瀹岀粨涓婁竴鏉″懡浠�
- boolean updateCommand = false;
- if (commandStep != 0) {
- ShuttleCommand command = commands.get(commandStep - 1);
- if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
- // 姝ｅ父绉诲姩
- if (command.getTargetLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
- command.setComplete(true);
- updateCommand = true;
- //瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰�
- List<NavigateNode> nodes = null;
- try {
- String nodesStr = objectMapper.writeValueAsString(command.getNodes());
- nodes = objectMapper.readValue(nodesStr, new TypeReference<List<NavigateNode>>() {
- });
- } catch (IOException e) {
- throw new RuntimeException(e);
- }
-
- if (nodes != null) {
- NavigateNode targetNode = assignCommand.getNodes().get(assignCommand.getNodes().size() - 1);//鏈�缁堣妭鐐�
- NavigateNode node = nodes.get(nodes.size() - 1);
- if (!(targetNode.getX() == node.getX() && targetNode.getY() == node.getY())) {
- nodes.remove(nodes.size() - 1);//鍓旈櫎灏捐妭鐐�
- }
- boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo(), nodes, false);//瑙ｉ攣璺緞
- if (!result) {
- return false;//瑙ｉ攣澶辫触
- }
- }
- }
- } else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id) {
- // 鎵樼洏椤跺崌
- //鍒ゆ柇鏄惁椤跺崌鍒颁綅
- if (shuttleProtocol.getHasLift()) {
- command.setComplete(true);
- updateCommand = true;
-// //鍒ゆ柇鏄惁鏈夌墿
-// if (shuttleProtocol.getHasPallet()) {
-// command.setComplete(true);
-// }
- }
- } else if (command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {
- // 鎵樼洏涓嬮檷鍛戒护
- // 鍒ゆ柇鏄惁涓嬮檷鍒颁綅
- if (!shuttleProtocol.getHasLift()) {
- command.setComplete(true);
- updateCommand = true;
- }
- } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) {
- // 鍏呯數寮�
- //鍒ゆ柇灏忚溅鍏呯數鐘舵��
- if (shuttleProtocol.getHasCharge()) {
- command.setComplete(true);
- updateCommand = true;
- }
- }else {
- command.setComplete(true);//鍏朵粬鍛戒护榛樿璁や负瀹屾垚
- updateCommand = true;
- }
-
- if(updateCommand) {
- // 鏇存柊redis鏁版嵁
- redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
- }
-
- if (!command.getComplete()) {
- return false;
- }
-
- //鍒ゆ柇鏄惁涓烘渶鍚庝竴鏉″懡浠や笖鍛戒护鎵ц瀹屾垚锛屾姏鍑虹瓑寰呯‘璁ょ姸鎬�
- ShuttleCommand endCommand = commands.get(commands.size() - 1);
- if (endCommand.getComplete()) {
- 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(commands));
-
- // 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);
- }
- 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(command));
-
- // 鎵嬪姩浠诲姟
- } else {
- //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�
- shuttleThread.setSyncTaskNo(0);
- //鏍囪澶嶄綅
- shuttleThread.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));
- }
-
- //鍒犻櫎redis
- redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo());
- return false;//绂佹鍐嶄笅鍙戝懡浠�
- }
+ int commandStep = redisCommand.getCommandStep();
+ if(commandStep >= commands.size()){
+ return false;
}
//鍙栧嚭鍛戒护
- ShuttleCommand command = commands.get(commandStep);
+ ShuttleCommand command = null;
+ if (checked == 1) {
+ //闈炶繛缁寚浠わ紝闇�瑕佹娴嬩笂涓�鏉℃寚浠ゆ槸鍚﹀畬鎴�
+ if (commandStep > 0) {
+ ShuttleCommand lastCommand = commands.get(commandStep - 1);
+ if (!lastCommand.getComplete()) {
+ return false;//鎸囦护鏈畬鎴�
+ }
+ }
+
+ command = commands.get(commandStep);
+ } else if (checked == 2) {
+ //杩炵画鎸囦护鐩存帴鍙栨暟鎹�
+ command = commands.get(commandStep);
+ }
+
+ if(command == null){
+ return false;
+ }
+
+ //绉诲姩鍛戒护锛岄攣瀹氳矾寰�
+ if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
+ List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);
+ //鐢宠绠″埗
+ boolean apply = applyTrafficControl(commands, nodes, 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);
+ }
+
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(command.getTargetLocNo()), shuttleNo, nodes, true);//閿佸畾璺緞
+ if (!result) {
+ News.error("{} device can't lock path!", shuttleNo);
+ shuttleThread.offerSystemMsg("{} device can't lock path!", shuttleNo);
+ return false;//璺緞閿佸畾澶辫触
+ }
+ }
// 涓嬪彂鍛戒护
CommandResponse response = write(command, shuttleNo);
@@ -273,14 +213,400 @@
}
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
- commandStep++;
+
+ //瀛樺偍涓嬪彂鎸囦护绱㈠紩
+ redisUtil.set(RedisKeyType.SHUTTLE_SEND_COMMAND_INDEX.key + shuttleNo + "_" + taskNo + "_" + commandStep, commandStep);
+
+ commandStep += 1;
//鏇存柊redis鏁版嵁
redisCommand.setCommandStep(commandStep);
+
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
return true;
}
+ /**
+ * 妫�娴嬪懡浠�
+ * 0:鏈�氳繃 1:閫氳繃 2:閫氳繃涓斿彲鎻愬墠涓嬪彂鎸囦护
+ */
+ private int checkCommand(ShuttleRedisCommand redisCommand, Integer shuttleNo) {
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ if(trafficControlThread == null){
+ return 0;
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return 0;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return 0;
+ }
+
+ int commandStep = redisCommand.getCommandStep();
+ if (commandStep == 0) {
+ return 1;//绗竴鏉″懡浠ゆ棤闇�妫�娴�
+ }
+
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ List<ShuttleCommand> commands = assignCommand.getCommands();
+ if (commands.isEmpty()) {
+ return 0;
+ }
+
+ //涓婁竴鏉℃寚浠�
+ String searchKey = RedisKeyType.SHUTTLE_SEND_COMMAND_INDEX.key + shuttleNo + "_" + redisCommand.getWrkNo() + "_";
+ Set<String> keys = redisUtil.searchKeys(searchKey);
+ TreeSet<Integer> treeSet = new TreeSet<>();
+ for (String key : keys) {
+ String[] split = key.split(searchKey);
+ treeSet.add(Integer.parseInt(split[1]));
+ }
+ if (treeSet.isEmpty()) {
+ return 1;
+ }
+
+ String firstKey = searchKey + treeSet.first();
+ Integer lastCommandIdx = (Integer) redisUtil.get(firstKey);
+ ShuttleCommand lastCommand = commands.get(lastCommandIdx);
+ if (!lastCommand.getComplete()) {
+ //妫�娴嬫洿鏂板懡浠ゅ畬鎴�
+ boolean checked = updateCommandComplete(lastCommandIdx, commands, shuttleNo);
+ if (checked) {
+ //鍒犻櫎绱㈠紩
+ redisUtil.del(firstKey);
+
+ // 鏇存柊redis鏁版嵁
+ redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
+ }else {
+ //灏忚溅绉诲姩杩炵画涓嬪彂鎸囦护
+ if (assignCommand.getShuttleMoveCommandsContinuously()) {
+ if (treeSet.size() <= 1) {
+ if(commandStep >= commands.size()) {
+ return 0;
+ }
+
+ //绉诲姩鎸囦护
+ if(lastCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
+ return 0;
+ }
+
+ List<NavigateNode> nodes = lastCommand.getNodes();
+ NavigateNode startNode = nodes.get(0);
+ if (!startNode.getLinePartAllowGo()) {//鐩寸嚎娈甸儴鍒嗭紝鍏佽鐩存帴琛岃蛋
+ return 0;
+ }
+
+ //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;
+ }
+
+ 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
+ }
+
+ }
+ }
+
+ return 0;
+ }
+ }
+
+ //鍒ゆ柇鏄惁涓烘渶鍚庝竴鏉″懡浠や笖鍛戒护鎵ц瀹屾垚锛屾姏鍑虹瓑寰呯‘璁ょ姸鎬�
+ ShuttleCommand endCommand = commands.get(commands.size() - 1);
+ if (endCommand.getComplete()) {
+ 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(commands));
+
+ // 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);
+ }
+ 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 {
+ //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�
+ shuttleThread.setSyncTaskNo(0);
+ //鏍囪澶嶄綅
+ shuttleThread.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(endCommand));
+ }
+
+ //鐢宠鍙栨秷绠″埗
+ trafficControlThread.cancelTrafficControl(shuttleNo, shuttleProtocol.getTaskNo());
+ //鍒犻櫎redis
+ redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo());
+ return 0;//绂佹鍐嶄笅鍙戝懡浠�
+ }
+
+ return 1;
+ }
+
+ //妫�娴嬫洿鏂板懡浠ゅ畬鎴�
+ private boolean updateCommandComplete(Integer commandIdx, List<ShuttleCommand> commands, Integer shuttleNo) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return false;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //鍒ゆ柇璁惧鏄惁绌洪棽
+ boolean deviceIdle = shuttleThread.isDeviceIdle();
+
+ ShuttleCommand command = commands.get(commandIdx);
+ if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
+ // 姝ｅ父绉诲姩
+ List<String> targetPoints = new ArrayList<>();
+
+ //瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰�
+ List<NavigateNode> nodes = null;
+ try {
+ String nodesStr = objectMapper.writeValueAsString(command.getNodes());
+ nodes = objectMapper.readValue(nodesStr, new TypeReference<List<NavigateNode>>() {
+ });
+ } catch (IOException e) {
+ throw new RuntimeException(e);
+ }
+
+ NavigateNode startNode = nodes.get(0);
+ Long linePartFlag = startNode.getLinePartFlag();
+
+ NavigateNode targetNode = nodes.get(nodes.size() - 1);
+ targetPoints.add(targetNode.getX() + "-" + targetNode.getY());
+
+ for (int i = commandIdx + 1; i < commands.size(); i++) {
+ ShuttleCommand nextCommand = commands.get(i);
+ if (nextCommand.getMode() == ShuttleCommandModeType.MOVE.id) {
+ List<NavigateNode> nextCommandNodes = nextCommand.getNodes();
+ NavigateNode nextStartNode = nextCommandNodes.get(0);
+ Long nextLinePartFlag = nextStartNode.getLinePartFlag();
+ if(nextLinePartFlag.equals(linePartFlag)) {
+ for (NavigateNode node : nextCommandNodes) {
+ String key = node.getX() + "-" + node.getY();
+ if(!targetPoints.contains(key)) {
+ targetPoints.add(key);
+ }
+ }
+ }
+ }
+ }
+
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ if (trafficControlThread == null) {
+ return false;
+ }
+
+ TrafficControlDataModel trafficControlDataModel = trafficControlThread.queryTrafficControl(shuttleNo);
+ if (trafficControlDataModel != null) {
+ //鏈夌鍒朵俊鎭紝杩涜妫�娴�
+ if (!trafficControlDataModel.getTaskNo().equals(shuttleProtocol.getTaskNo())) {
+ return false;//浠诲姟涓嶄竴鑷�
+ }
+
+ //妫�娴嬫槸鍚﹀埌缁堢偣
+ List<NavigateNode> totalNodeList = trafficControlDataModel.getTotalNodeList();
+ NavigateNode trafficTargetNode = totalNodeList.get(totalNodeList.size() - 1);
+ String trafficTargetLoc = Utils.getLocNo(trafficTargetNode.getX(), trafficTargetNode.getY(), trafficTargetNode.getZ());
+
+ //鍒ゆ柇灏忚溅鏄惁鍒扮粓鐐�
+ if(shuttleProtocol.getCurrentLocNo().equals(trafficTargetLoc)) {
+ //涓婃姤浜ょ
+ trafficControlThread.trafficReport(command.getNodesDeepCopy(), shuttleNo, shuttleProtocol.getTaskNo());
+ }
+ }
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (targetPoints.contains(Utils.getRow(currentLocNo) + "-" + Utils.getBay(currentLocNo))) {
+ command.setComplete(true);
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo(), nodes, false);//瑙ｉ攣璺緞
+ if (!result) {
+ return false;//瑙ｉ攣澶辫触
+ }
+ }else {
+ return false;
+ }
+ } else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id) {
+ // 鎵樼洏椤跺崌
+ if (!deviceIdle) {
+ return false;//璁惧涓嶇┖闂�
+ }
+
+ //鍒ゆ柇鏄惁椤跺崌鍒颁綅
+ if (shuttleProtocol.getHasLift()) {
+ command.setComplete(true);
+// //鍒ゆ柇鏄惁鏈夌墿
+// if (shuttleProtocol.getHasPallet()) {
+// command.setComplete(true);
+// }
+ }else {
+ return false;
+ }
+ } else if (command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {
+ // 鎵樼洏涓嬮檷鍛戒护
+ if (!deviceIdle) {
+ return false;//璁惧涓嶇┖闂�
+ }
+
+ // 鍒ゆ柇鏄惁涓嬮檷鍒颁綅
+ if (!shuttleProtocol.getHasLift()) {
+ command.setComplete(true);
+ }else {
+ return false;
+ }
+ } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) {
+ // 鍏呯數寮�
+ //鍒ゆ柇灏忚溅鍏呯數鐘舵��
+ if (shuttleProtocol.getHasCharge()) {
+ command.setComplete(true);
+ }else {
+ return false;
+ }
+ } else if (command.getMode() == ShuttleCommandModeType.CHARGE_CLOSE.id) {
+ //鍏抽棴鍏呯數
+ command.setComplete(true);
+ } else {
+ command.setComplete(true);//鍏朵粬鍛戒护榛樿璁や负瀹屾垚
+ }
+
+ return true;
+ }
+
+ //鐢宠绠″埗
+ public boolean applyTrafficControl(List<ShuttleCommand> commands, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ if (trafficControlThread == null) {
+ return false;
+ }
+
+ NavigateNode startNode = nodeList.get(0);
+ Long linePartFlag = startNode.getLinePartFlag();
+
+ List<NavigateNode> totalNodeList = new ArrayList<>();
+ for (ShuttleCommand command : commands) {
+ if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
+ NavigateNode node = command.getNodes().get(0);
+ Long nodeLinePartFlag = node.getLinePartFlag();
+ if (nodeLinePartFlag.equals(linePartFlag)) {
+ List<NavigateNode> deepCopy = command.getNodesDeepCopy();
+ if (deepCopy != null) {
+ totalNodeList.addAll(deepCopy);
+ }
+ }
+ }
+ }
+ return trafficControlThread.applyTrafficControl(totalNodeList, nodeList, shuttleNo, taskNo);
+ }
+
+// /**
+// * 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) {
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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