From 8c7b4949dfcf875cc537304d34a7f6960cbb0c10 Mon Sep 17 00:00:00 2001
From: qlsxk <qlsxk@qq.com>
Date: 星期四, 16 十月 2025 14:57:12 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java | 769 ++++++++++++++++++++++++----------------------------------
1 files changed, 318 insertions(+), 451 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java b/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java
index 9d92ed2..bcd0c2d 100644
--- a/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java
+++ b/src/main/java/com/zy/core/thread/impl/TrafficControlImplThread.java
@@ -1,45 +1,44 @@
package com.zy.core.thread.impl;
-import com.alibaba.fastjson.JSON;
import com.core.common.SpringUtils;
import com.fasterxml.jackson.databind.ObjectMapper;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
-import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.ShuttleOperaUtils;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
+import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.WrkStsType;
import com.zy.core.model.TrafficControlDataModel;
-import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
+import com.zy.core.model.param.OperateTrafficControlParam;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.thread.ShuttleThread;
import com.zy.core.thread.TrafficControlThread;
-import com.zy.core.utils.TrafficControlUtils;
import java.io.IOException;
import java.util.*;
-import java.util.function.Function;
+import java.util.stream.Collectors;
public class TrafficControlImplThread implements TrafficControlThread {
private RedisUtil redisUtil;
- private boolean detecting = false;
- private boolean updateDetect = false;
- private Long detectTime = System.currentTimeMillis();
- private HashMap<String, Integer> deviceMap = null;
- private HashMap<Integer, HashMap<String, List<Integer>>> levNodesMap = null;
-
+ private List<TrafficControlDataModel> applyList = new ArrayList<>();
+ private HashMap<Integer,Long> shuttleReportErrorMap = new HashMap<>();
private HashMap<Integer,Long> pathIdleShuttleMap = new HashMap<>();
private HashMap<Integer,Long> applyRecordsMap = new HashMap<>();
private HashMap<String, List<NavigateNode>> taskNodesMap = new HashMap<>();
private List<TrafficControlDataModel> trafficControlDataList = new ArrayList<>();
+ private List<TrafficControlDataModel> trafficControlDataListRead = new ArrayList<>();
public TrafficControlImplThread(RedisUtil redisUtil) {
this.redisUtil = redisUtil;
@@ -51,407 +50,65 @@
Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_MAP.key);
if(object != null) {
trafficControlDataList = (List<TrafficControlDataModel>) object;
+ trafficControlDataListRead = trafficControlDataList.stream()
+ .map(model -> new TrafficControlDataModel(
+ model.getShuttleNo(),
+ model.getTaskNo(),
+ new ArrayList<>(model.getNodeList()),
+ new ArrayList<>(model.getTotalNodeList())
+ ))
+ .collect(Collectors.toList());
}
-// List<Integer> shuttleNoList = new ArrayList<>();
-// while (true) {
-// try {
-// DeviceConfigService deviceConfigService = null;
-// try {
-// deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
-// }catch (Exception e){}
-//
-// if(deviceConfigService == null){
-// continue;
-// }
-//
-// if(shuttleNoList.isEmpty()){
-// List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
-// .eq("device_type", String.valueOf(SlaveType.Shuttle)));
-// for (DeviceConfig deviceConfig : shuttleList) {
-// shuttleNoList.add(deviceConfig.getDeviceNo());
-// }
-// }
-//
-// if((updateDetect) || ((System.currentTimeMillis() - detectTime) > 1000 * 2)) {
-// detect(shuttleNoList);
-// }
-// }catch (Exception e){
-// e.printStackTrace();
-// }
-// }
-
- }
-
- public synchronized void detect(List<Integer> shuttleNoList) {
- detecting = true;
- updateDetect = false;
- ObjectMapper objectMapper = null;
- try {
- objectMapper = SpringUtils.getBean(ObjectMapper.class);
- }catch (Exception e){}
-
- if(objectMapper == null){
- return;
- }
-
- HashMap<String, List<NavigateNode>> tmpTaskNodesMap = new HashMap<>();
- for (Integer shuttleNo : shuttleNoList) {
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if (shuttleProtocol.getTaskNo() == 0) {
- continue;
- }
-
- if (shuttleProtocol.getCurrentLocNo() == null) {
- continue;
- }
-
- int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
-
- Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
- if (obj == null) {
- continue;
- }
-
- ShuttleRedisCommand redisCommand = null;
+ while (true) {
try {
- redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
- } catch (IOException e) {
- throw new RuntimeException(e);
- }
+ List<TrafficControlDataModel> allTrafficControl = getAllTrafficControl();
+ //鏇存柊浜ょ淇℃伅
+ redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_MAP.key, allTrafficControl);
- if (redisCommand == null) {
- continue;
- }
+ for (TrafficControlDataModel dataModel : allTrafficControl) {
+ Integer shuttleNo = dataModel.getShuttleNo();
+ Integer taskNo = dataModel.getTaskNo();
- ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
- if (assignCommand == null) {
- continue;
- }
-
- List<NavigateNode> nodeList = assignCommand.getNodesDeepCopy();
- if (nodeList == null || nodeList.isEmpty()) {
- continue;
- }
-
- tmpTaskNodesMap.put(shuttleProtocol.getTaskNo() + "-" + shuttleNo, nodeList);
- }
- this.taskNodesMap = tmpTaskNodesMap;
- HashMap<Integer, HashMap<String, List<Integer>>> levNodesMap = calcNodeList();
-
- HashMap<Integer, HashMap<String, List<Integer>>> levBlockMap = new HashMap<>();
- //杩囨护涓嶉渶瑕佺鍒惰妭鐐�
- for (Map.Entry<Integer, HashMap<String, List<Integer>>> entry : levNodesMap.entrySet()) {
- Integer lev = entry.getKey();
- HashMap<String, List<Integer>> value = entry.getValue();
-
- HashMap<String, List<Integer>> blockMap = new HashMap<>();
- for (Map.Entry<String, List<Integer>> listEntry : value.entrySet()) {
- String locNo = listEntry.getKey();
- List<Integer> shuttleNos = listEntry.getValue();
- if (shuttleNos.size() <= 1) {
- continue;
- }
- blockMap.put(locNo, shuttleNos);
- }
-
- levBlockMap.put(lev, blockMap);
- }
-
- //璁＄畻鍫靛鑼冨洿
- List<List<String>> allLocList = new ArrayList<>();
- List<List<Integer>> allDeviceNodes = new ArrayList<>();
- for (Map.Entry<Integer, HashMap<String, List<Integer>>> entry : levBlockMap.entrySet()) {
- Integer lev = entry.getKey();
- HashMap<String, List<Integer>> nodes = entry.getValue();
-
- Set<String> sets = new HashSet<>();
- for (Map.Entry<String, List<Integer>> val : nodes.entrySet()) {
- String locNo = val.getKey();
- sets.add(locNo);
- }
-
- List<List<String>> locList = TrafficControlUtils.groupNodes(sets);
- List<List<Integer>> deviceNodes = new ArrayList<>();
-
- //get devices
- for (List<String> list : locList) {
- List<List<Integer>> tmpDeviceNodes = new ArrayList<>();
- for (String loc : list) {
- List<Integer> shuttleNos = nodes.get(loc);
- if(!tmpDeviceNodes.contains(shuttleNos)) {
- tmpDeviceNodes.add(shuttleNos);
+ Object object1 = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SUCCESS_APPLY.key + shuttleNo + "_" + taskNo);
+ if(object1 == null) {
+ redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_SUCCESS_APPLY.key + shuttleNo + "_" + taskNo, 1, 60 * 60);
}
}
- //鑺傜偣骞堕泦-鑾峰彇鍫靛璁惧缂栧彿
- List<List<Integer>> deviceList = mergeConnectedComponents(tmpDeviceNodes);
- deviceNodes.addAll(deviceList);
- }
- allLocList.addAll(locList);
- allDeviceNodes.addAll(deviceNodes);
- }
-
- System.out.println(JSON.toJSONString(allLocList));
- System.out.println(JSON.toJSONString(allDeviceNodes));
-// //鍒嗛厤鍫靛鑺傜偣鍙墽琛岃澶�
-// findDeviceByBlockList(allLocList, allDeviceNodes);
-
- detecting = false;
- detectTime = System.currentTimeMillis();
-
-// //鍙戝竷鍫靛鑺傜偣鍙敤璁惧缂栧彿
-// redisUtil.set(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key, trafficControlDataList);
- }
-
-// //鍒嗛厤鍫靛鑺傜偣鍙墽琛岃澶�
-// public void findDeviceByBlockList(List<List<String>> allLocList, List<List<Integer>> blockNodes) {
-// HashMap<String, Integer> map = new HashMap<>();
-// if (deviceMap == null) {
-// Object object = redisUtil.get(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key);
-// if (object != null) {
-// map = (HashMap<String, Integer>) object;
-// }
-// } else {
-// map = deviceMap;
-// }
-//
-// HashMap<String, Integer> newMap = new HashMap<>();
-//
-// for (int i = 0; i < blockNodes.size(); i++) {
-// List<Integer> blockNode = blockNodes.get(i);
-// List<String> locs = allLocList.get(i);
-//
-// String key = JSON.toJSONString(locs);
-//
-// Integer value = -1;
-// if (map.containsKey(key)) {
-// value = map.get(key);
-// map.remove(key);
-//
-// if (value > 0) {
-// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, value);
-// if (shuttleThread == null) {
-// continue;
-// }
-//
-// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
-// if (shuttleProtocol == null) {
-// continue;
-// }
-//
-// if (shuttleProtocol.getTaskNo() == 0) {
-// value = searchDevice(locs, blockNode, newMap);
-// }
-//
-// if (!shuttleProtocol.getTrafficControl()) {
-// value = searchDevice(locs, blockNode, newMap);
-// }
-// }else {
-// value = searchDevice(locs, blockNode, newMap);
-// }
-// } else {
-// value = searchDevice(locs, blockNode, newMap);
-// }
-// newMap.put(key, value);
-// }
-//
-// deviceMap = newMap;
-// //鍙戝竷鍫靛鑺傜偣鍙敤璁惧缂栧彿
-// redisUtil.set(RedisKeyType.TASK_BLOCK_ENABLE_DEVICE_MAP.key, newMap);
-// }
-
- public Integer searchDevice(List<String> locs, List<Integer> blockNode, HashMap<String, Integer> deviceMap) {
- NavigateUtils navigateUtils = null;
- try {
- navigateUtils = SpringUtils.getBean(NavigateUtils.class);
- }catch (Exception e){}
-
- if(navigateUtils == null){
- return -1;
- }
-
- Integer value = -1;
- for (Integer shuttleNo : blockNode) {
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if (!shuttleThread.isDeviceIdle()) {
- continue;
- }
-
- if (shuttleProtocol.getTaskNo() == 0) {
- continue;
- }
-
- if (!shuttleProtocol.getTrafficControl()) {
- continue;//灏忚溅鏈敵璇蜂氦閫氱鍒�
- }
-
- //妫�娴嬪皬杞︽槸鍚﹀凡缁忓垎閰�
- if (deviceMap.containsValue(shuttleNo)) {
- continue;
- }
-
- List<NavigateNode> trafficControlNodes = shuttleProtocol.getTrafficControlNodes();
- List<String> trafficControlLocs = new ArrayList<>();
- for (NavigateNode node : trafficControlNodes) {
- trafficControlLocs.add(Utils.getLocNo(node.getX(), node.getY(), node.getZ()));
- }
-
- //妫�娴嬪綋鍓嶅皬杞﹁妭鐐规槸鍚﹀尮閰嶄氦閫氱鍒惰妭鐐�
- boolean result = false;
- for (String loc : locs) {
- if (trafficControlLocs.contains(loc)) {
- result = true;
- break;
- }
- }
-
- if (!result) {
- continue;
- }
-
- //check path
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
- for (String loc : locs) {
- if (loc.equals(currentLocNo)) {
- continue;
- }
- List<NavigateNode> nodeList = navigateUtils.calc(currentLocNo, loc, NavigationMapType.getNormalWithDevice(), Utils.getShuttlePoints(shuttleNo, Utils.getLev(loc)), null);
- if (nodeList == null) {
- break;
- }
- }
-
- value = shuttleNo;
- break;
- }
-
- return value;
- }
-
- //鑺傜偣骞堕泦
- public List<List<Integer>> mergeConnectedComponents(List<List<Integer>> lists) {
- // 1. 鏀堕泦鎵�鏈夊敮涓�鍏冪礌
- Set<Integer> allElements = new HashSet<>();
- for (List<Integer> list : lists) {
- allElements.addAll(list);
- }
-
- // 2. 鍒濆鍖栧苟鏌ラ泦
- Map<Integer, Integer> parent = new HashMap<>();
- for (Integer element : allElements) {
- parent.put(element, element);
- }
-
- // 3. 瀹氫箟鏌ユ壘鏍硅妭鐐圭殑鍑芥暟锛堝甫璺緞鍘嬬缉锛�
- Function<Integer, Integer> find = x -> {
- int root = x;
- while (parent.get(root) != root) {
- root = parent.get(root);
- }
- // 璺緞鍘嬬缉
- int current = x;
- while (parent.get(current) != root) {
- int next = parent.get(current);
- parent.put(current, root);
- current = next;
- }
- return root;
- };
-
- // 4. 閬嶅巻姣忎釜鍒楄〃骞跺悎骞跺厓绱�
- for (List<Integer> list : lists) {
- if (list.isEmpty()) continue;
- int first = list.get(0);
- for (int i = 1; i < list.size(); i++) {
- int a = first;
- int b = list.get(i);
- int rootA = find.apply(a);
- int rootB = find.apply(b);
- if (rootA != rootB) {
- parent.put(rootB, rootA); // 鍚堝苟闆嗗悎
- }
+ Thread.sleep(200);
+ }catch (Exception e){
+ e.printStackTrace();
}
}
- // 5. 鎸夋牴鑺傜偣鍒嗙粍
- Map<Integer, Set<Integer>> components = new HashMap<>();
- for (Integer element : allElements) {
- int root = find.apply(element);
- components.computeIfAbsent(root, k -> new TreeSet<>()).add(element);
- }
-
- // 6. 杞崲涓烘湁搴忓垪琛�
- List<List<Integer>> result = new ArrayList<>();
- for (Set<Integer> set : components.values()) {
- result.add(new ArrayList<>(set));
- }
-
- return result;
- }
-
- private HashMap<Integer, HashMap<String, List<Integer>>> calcNodeList() {
- HashMap<Integer, HashMap<String, List<Integer>>> levNodesMap = new HashMap<>();
- for (Map.Entry<String, List<NavigateNode>> entry : taskNodesMap.entrySet()) {
- String key = entry.getKey();
- String[] split = key.split("-");
- Integer taskNo = Integer.parseInt(split[0]);
- Integer shuttleNo = Integer.parseInt(split[1]);
-
- List<NavigateNode> nodeList = entry.getValue();
- NavigateNode node1 = nodeList.get(0);
- int lev = node1.getZ();
-
- HashMap<String, List<Integer>> nodeMap = new HashMap<>();
- if(levNodesMap.containsKey(lev)) {
- nodeMap = levNodesMap.get(lev);
- }
-
- for (NavigateNode node : nodeList) {
- String locNo = Utils.getLocNo(node.getX(), node.getY(), lev);
- List<Integer> shuttleNos = new ArrayList<>();
- if (nodeMap.containsKey(locNo)) {
- shuttleNos = nodeMap.get(locNo);
- }
-
- if (!shuttleNos.contains(shuttleNo)) {
- shuttleNos.add(shuttleNo);
- }
- nodeMap.put(locNo, shuttleNos);
- }
- levNodesMap.put(lev, nodeMap);
- }
- this.levNodesMap = levNodesMap;
- return levNodesMap;
}
@Override
- public synchronized boolean applyTrafficControl(List<NavigateNode> totalNodeList, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
+ public synchronized boolean processApply(TrafficControlDataModel applyData) {
ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class);
- if (shuttleOperaUtils == null) {
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
+ ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
+ if (shuttleOperaUtils == null || wrkMastService == null || objectMapper == null || navigateUtils == null || shuttleDispatchUtils == null) {
return false;
}
- //鏇存柊浜ょ淇℃伅
- redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_MAP.key, trafficControlDataList);
+ if (applyData == null) {
+ return false;
+ }
+
+ if (applyData.getShuttleNo() == null || applyData.getTaskNo() == null || applyData.getNodeList() == null || applyData.getTotalNodeList() == null) {
+ return false;
+ }
+
+ List<TrafficControlDataModel> allTrafficControlList = getAllTrafficControl();
+
+ Integer shuttleNo = applyData.getShuttleNo();
+ Integer taskNo = applyData.getTaskNo();
+ List<NavigateNode> nodeList = applyData.getNodeList();
+ List<NavigateNode> totalNodeList = applyData.getTotalNodeList();
NavigateNode startNode = totalNodeList.get(0);
List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, startNode.getZ());
@@ -469,8 +126,8 @@
}
//妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
- for (int i = 0; i < trafficControlDataList.size(); i++) {
- TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
+ for (int i = 0; i < allTrafficControlList.size(); i++) {
+ TrafficControlDataModel controlDataModel = allTrafficControlList.get(i);
if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
//瀛樺湪绠″埗
if(!controlDataModel.getTaskNo().equals(taskNo)) {
@@ -487,7 +144,7 @@
}
}
- News.info("traffic running {},{}", shuttleNo, taskNo);
+// News.info("traffic running {},{}", shuttleNo, taskNo);
return true;//宸茬粡绠″埗鍏佽鎵ц
}
}
@@ -530,13 +187,77 @@
Long idleTime = pathIdleShuttleMap.get(shuttleProtocol.getShuttleNo());
if((System.currentTimeMillis() - idleTime) > 1000 * 10) {
//妫�娴嬮殰纰嶇墿杞�
- boolean checkObstacle = shuttleOperaUtils.checkObstacle(shuttleProtocol.getCurrentLocNo(), new ArrayList<Integer>() {{
+ int checkObstacle = shuttleOperaUtils.checkObstacle(shuttleProtocol.getCurrentLocNo(), new ArrayList<Integer>() {{
add(shuttleNo);
- }});
+ }}, totalNodeList);
pathIdleShuttleMap.remove(shuttleProtocol.getShuttleNo());
+
+ if (checkObstacle == 2) {
+ pathShuttleThread.restartCalcPath();
+ }
}
}else {
pathIdleShuttleMap.put(shuttleProtocol.getShuttleNo(), System.currentTimeMillis());
+ }
+ }else {
+ Object cancelTaskLock = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK_LOCK.key + shuttleProtocol.getShuttleNo());
+ if(cancelTaskLock != null) {
+ return false;
+ }
+
+ Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
+ if (obj == null) {
+ return false;
+ }
+
+ ShuttleRedisCommand redisCommand = null;
+ try {
+ redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
+ } catch (IOException e) {
+ throw new RuntimeException(e);
+ }
+
+ if (redisCommand == null) {
+ return false;
+ }
+
+ if (redisCommand.getCommandStep() != 0) {
+ return false;
+ }
+
+ long recordTime = System.currentTimeMillis();
+ if (pathShuttleThread.isDeviceIdle()) {
+ Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK.key + shuttleProtocol.getShuttleNo());
+ if(object == null) {
+ redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK.key + shuttleProtocol.getShuttleNo(), recordTime, 60 * 3);
+ }else {
+ recordTime = (long) object;
+ }
+ }else {
+ redisUtil.del(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK.key + shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ if(System.currentTimeMillis() - recordTime > 1000 * 15) {
+ WrkMast wrkMast = wrkMastService.selectShuttleHasMoveWorking(shuttleProtocol.getShuttleNo());
+ if(wrkMast != null) {
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
+ if (shuttleProtocol.getTaskNo().equals(wrkMast.getWrkNo())) {
+ //璁＄畻杩戠偣浣嶇疆
+ String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 2);
+ if (endLocation == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岄殰纰嶇墿灏忚溅閬块殰杩戠偣浣嶇疆璁＄畻澶辫触", wrkMast.getWrkNo());
+ return false;
+ }
+
+ pathShuttleThread.setSyncTaskNo(0);
+ pathShuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ wrkMastService.deleteById(wrkMast);
+ shuttleDispatchUtils.dispatchShuttle(null, endLocation, shuttleProtocol.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╄繎鐐�
+ redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK_LOCK.key + shuttleProtocol.getShuttleNo(), "cancelLock", 60);
+ }
+ }
+ }
}
}
return false;//node has shuttle
@@ -544,7 +265,7 @@
}
//妫�娴嬭妭鐐规槸鍚﹁浣跨敤
- for (TrafficControlDataModel controlDataModel : trafficControlDataList) {
+ for (TrafficControlDataModel controlDataModel : allTrafficControlList) {
List<NavigateNode> list = controlDataModel.getTotalNodeList();
for (int i = 0; i < list.size(); i++) {
NavigateNode node = list.get(i);
@@ -554,27 +275,217 @@
}
if(totalLocList.contains(locNo)) {
+ String first = totalLocList.get(0);
+ if(first.equals(locNo)) {//filter first node
+ continue;
+ }
return false;
}
}
}
//浜ょ鎺ユ敹
+ OperateTrafficControlParam param = new OperateTrafficControlParam();
+ param.setDataModel(applyData);
+ param.setOperaType("add");
+ operateTrafficControl(param);
+
+ applyRecordsMap.remove(shuttleNo);
+ redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_SUCCESS_APPLY.key + shuttleNo + "_" + taskNo, 1, 60 * 60);
+ News.info("[RCS Debug] receipt traffic {},{}", shuttleNo, taskNo);
+ return true;
+ }
+
+ @Override
+ public boolean applyTrafficControl(List<NavigateNode> totalNodeList, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
+ Set<String> keys = redisUtil.searchKeys(RedisKeyType.TRAFFIC_CONTROL_APPLY.key + shuttleNo + "_");
+ if (!keys.isEmpty()) {
+ return false;
+ }
+
TrafficControlDataModel model = new TrafficControlDataModel();
model.setShuttleNo(shuttleNo);
model.setTaskNo(taskNo);
model.setNodeList(nodeList);
model.setTotalNodeList(totalNodeList);
- trafficControlDataList.add(model);
-
- applyRecordsMap.remove(shuttleNo);
- News.info("receipt traffic {},{}", shuttleNo, taskNo);
+ redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_APPLY.key + shuttleNo + "_" + System.currentTimeMillis(), model);
return true;
}
@Override
- public synchronized boolean trafficReport(List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
+ public boolean trafficReport(List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
//妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
+ List<TrafficControlDataModel> allTrafficControlList = getAllTrafficControl();
+ for (int i = 0; i < allTrafficControlList.size(); i++) {
+ TrafficControlDataModel controlDataModel = allTrafficControlList.get(i);
+ if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
+ if(controlDataModel.getTaskNo().equals(taskNo)) {
+ OperateTrafficControlParam param = new OperateTrafficControlParam();
+ param.setDataModel(controlDataModel);
+ param.setOperaType("report");
+ param.setReportNodeList(nodeList);
+ redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_REPORT_LIST.key + shuttleNo + "_" + System.currentTimeMillis(), param);
+ return true;
+ }
+ }
+ }
+ return false;
+ }
+
+ @Override
+ public synchronized boolean trafficReportError(Integer shuttleNo, Integer taskNo) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return false;
+ }
+
+ if(shuttleReportErrorMap.containsKey(shuttleNo)) {
+ Long errorTime = shuttleReportErrorMap.get(shuttleNo);
+ if((System.currentTimeMillis() - errorTime) > 1000 * 10) {
+ shuttleReportErrorMap.remove(shuttleNo);
+ shuttleThread.restartCalcPath();
+ }
+ }else {
+ shuttleReportErrorMap.put(shuttleNo, System.currentTimeMillis());
+ }
+ return true;
+ }
+
+ @Override
+ public boolean cancelTrafficControl(Integer shuttleNo, Integer taskNo) {
+ TrafficControlDataModel dataModel = queryTrafficControl(shuttleNo, taskNo);
+ if (dataModel == null) {
+ return false;
+ }
+
+ OperateTrafficControlParam param = new OperateTrafficControlParam();
+ param.setDataModel(dataModel);
+ param.setOperaType("cancel");
+ param.setForceCancel(false);
+ return operateTrafficControl(param);
+ }
+
+ @Override
+ public boolean forceCancelTrafficControl(Integer shuttleNo) {
+ TrafficControlDataModel dataModel = queryTrafficControl(shuttleNo);
+ if (dataModel == null) {
+ return false;
+ }
+
+ OperateTrafficControlParam param = new OperateTrafficControlParam();
+ param.setDataModel(dataModel);
+ param.setOperaType("cancel");
+ param.setForceCancel(true);
+ return operateTrafficControl(param);
+ }
+
+ @Override
+ public TrafficControlDataModel queryTrafficControl(Integer shuttleNo, Integer taskNo) {
+ //妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
+ List<TrafficControlDataModel> allTrafficControlList = getAllTrafficControl();
+ for (int i = 0; i < allTrafficControlList.size(); i++) {
+ TrafficControlDataModel controlDataModel = allTrafficControlList.get(i);
+ if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
+ if(controlDataModel.getTaskNo().equals(taskNo)) {
+ return controlDataModel;
+ }
+ }
+ }
+ return null;
+ }
+
+ @Override
+ public TrafficControlDataModel queryTrafficControl(Integer shuttleNo) {
+ //妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
+ List<TrafficControlDataModel> allTrafficControlList = getAllTrafficControl();
+ for (int i = 0; i < allTrafficControlList.size(); i++) {
+ TrafficControlDataModel controlDataModel = allTrafficControlList.get(i);
+ if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
+ return controlDataModel;
+ }
+ }
+ return null;
+ }
+
+ @Override
+ public List<TrafficControlDataModel> getAllTrafficControl() {
+ return trafficControlDataListRead;
+ }
+
+ @Override
+ public synchronized boolean operateTrafficControl(OperateTrafficControlParam param) {
+ long startTime = System.currentTimeMillis();
+ String operaType = param.getOperaType();
+ News.info("[RCS Debug] Operate Traffic Control is Start " + operaType);
+
+ boolean result = false;
+ if (operaType.equals("add")) {
+ result = addTrafficControlDataList(param);
+ } else if (operaType.equals("cancel")) {
+ result = removeTrafficControlDataList(param);
+ } else if (operaType.equals("report")) {
+ result = reportTrafficControlDataList(param);
+ }
+
+ this.trafficControlDataListRead = trafficControlDataList.stream()
+ .map(model -> new TrafficControlDataModel(
+ model.getShuttleNo(),
+ model.getTaskNo(),
+ new ArrayList<>(model.getNodeList()),
+ new ArrayList<>(model.getTotalNodeList())
+ ))
+ .collect(Collectors.toList());
+ News.info("[RCS Debug] Operate Traffic Control is end " + (System.currentTimeMillis() - startTime) + "ms");
+ return result;
+ }
+
+ public synchronized boolean addTrafficControlDataList(OperateTrafficControlParam param) {
+ TrafficControlDataModel dataModel = param.getDataModel();
+ trafficControlDataList.add(dataModel);
+ return true;
+ }
+
+ public synchronized boolean removeTrafficControlDataList(OperateTrafficControlParam param) {
+ //妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
+ TrafficControlDataModel dataModel = param.getDataModel();
+ Boolean forceCancel = param.getForceCancel();
+
+ Integer shuttleNo = dataModel.getShuttleNo();
+ Integer taskNo = dataModel.getTaskNo();
+
+ int idx = -1;
+ for (int i = 0; i < trafficControlDataList.size(); i++) {
+ TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
+ if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
+ if (forceCancel) {
+ idx = i;
+ break;
+ }else {
+ if(controlDataModel.getTaskNo().equals(taskNo)) {
+ idx = i;
+ break;
+ }
+ }
+ }
+ }
+
+ if(idx == -1) {
+ return false;
+ }
+
+ trafficControlDataList.remove(idx);//鍙栨秷绠″埗
+ redisUtil.del(RedisKeyType.TRAFFIC_CONTROL_SUCCESS_APPLY.key + shuttleNo + "_" + taskNo);
+ return true;
+ }
+
+ public synchronized boolean reportTrafficControlDataList(OperateTrafficControlParam param) {
+ //妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
+ TrafficControlDataModel dataModel = param.getDataModel();
+ List<NavigateNode> reportNodeList = param.getReportNodeList();
+
+ Integer shuttleNo = dataModel.getShuttleNo();
+ Integer taskNo = dataModel.getTaskNo();
+
for (int i = 0; i < trafficControlDataList.size(); i++) {
TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
@@ -583,7 +494,7 @@
List<NavigateNode> totalNodeList = controlDataModel.getTotalNodeList();
List<String> reportList = new ArrayList<>();
- for (NavigateNode node : nodeList) {
+ for (NavigateNode node : reportNodeList) {
reportList.add(Utils.getLocNo(node.getX(), node.getY(), node.getZ()));
}
@@ -597,56 +508,12 @@
controlDataModel.setTotalNodeList(newTotalNodeList);
trafficControlDataList.set(i, controlDataModel);
+ shuttleReportErrorMap.remove(shuttleNo);
return true;
}
}
}
return false;
- }
-
- @Override
- public synchronized boolean cancelTrafficControl(Integer shuttleNo, Integer taskNo) {
- //妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
- for (int i = 0; i < trafficControlDataList.size(); i++) {
- TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
- if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
- if(controlDataModel.getTaskNo().equals(taskNo)) {
- trafficControlDataList.remove(i);//鍙栨秷绠″埗
- return true;
- }
- }
- }
- return false;
- }
-
- @Override
- public boolean forceCancelTrafficControl(Integer shuttleNo) {
- //妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
- for (int i = 0; i < trafficControlDataList.size(); i++) {
- TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
- if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
- trafficControlDataList.remove(i);//鍙栨秷绠″埗
- return true;
- }
- }
- return false;
- }
-
- @Override
- public TrafficControlDataModel queryTrafficControl(Integer shuttleNo) {
- //妫�娴嬭溅瀛愭槸鍚﹀瓨鍦ㄧ鍒�
- for (int i = 0; i < trafficControlDataList.size(); i++) {
- TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
- if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
- return controlDataModel;
- }
- }
- return null;
- }
-
- @Override
- public List<TrafficControlDataModel> getAllTrafficControl() {
- return trafficControlDataList;
}
@Override
--
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