From 8af52b048a4ddaadb07346b4bcc08f671fcc05ea Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 06 九月 2023 10:03:03 +0800
Subject: [PATCH] #基础地图更新
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 160 +++++++++++++++++++++++++++++++++--------------------
1 files changed, 99 insertions(+), 61 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index 1ab039c..ff5a4df 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -28,6 +28,8 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
+import java.io.IOException;
+import java.net.Socket;
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
@@ -43,6 +45,7 @@
private ShuttleSlave slave;
private NyShuttleProtocol shuttleProtocol;
private RedisUtil redisUtil;
+ private Socket socket;
public NyShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
this.slave = slave;
@@ -84,6 +87,10 @@
private void read() {
try {
+ if (this.socket == null || this.socket.isClosed()) {
+ //閾炬帴鏂紑閲嶆柊閾炬帴
+ this.connect();
+ }
readStatus();
//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.getFree() == ShuttleStatusType.IDLE.id
@@ -108,9 +115,9 @@
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
NyShuttleHttpCommand readStatusCommand = NyHttpUtils.getReadStatusCommand(slave.getId());
- JSONObject jsonObject = NyHttpUtils.requestCommand(readStatusCommand);
+ 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()));
+ 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"));
@@ -159,7 +166,7 @@
errCode.add(Integer.parseInt(o.toString()));
}
//鏁呴殰鐮�
- shuttleProtocol.setErrCode(errCode);
+ shuttleProtocol.setErrCode(errCode.get(0));
//鎬婚噷绋嬫暟
shuttleProtocol.setStatusSum(jsonObject.getObject("statusSum", NyShuttleProtocol.StatusSumClass.class));
//闈炶嚜鍔ㄧ姸鎬佹椂闂磋鏃�
@@ -236,12 +243,29 @@
}
} 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();
+ }
}
}
@Override
public boolean connect() {
+ try {
+ Socket socket = new Socket(slave.getIp(),slave.getPort());
+ 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()));
+ }
return true;
}
@@ -268,7 +292,21 @@
}
//鍙戝嚭璇锋眰
- JSONObject result = NyHttpUtils.requestCommand(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
}
@@ -318,62 +356,62 @@
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�
- }
-
- //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�
+// 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�
//鍙墽琛屽懡浠�
if (!write(command)) {
--
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