From c4355edf683197a67e127c796e8f93650cc2a302 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 19 六月 2023 19:02:38 +0800
Subject: [PATCH] 充电任务优化
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 71 +++++++++++++++++------------------
1 files changed, 35 insertions(+), 36 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 77dfe69..f8e571e 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -12,6 +12,7 @@
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
+import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
@@ -365,6 +366,11 @@
OperateResult result = modbusTcpNet.Write("0", array);;
if (result != null && result.IsSuccess) {
+ try {
+ Thread.sleep(3000);//鍛戒护涓嬪彂鍚庝紤鐪�1s
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
return true;
@@ -414,7 +420,7 @@
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
- List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), NavigationMapType.NORMAL.id);//灏忚溅鍒颁腑鐐癸紝澶勪簬鏃犺揣鐘舵�侊紝浣跨敤姝ｅ父閫氶亾鍦板浘
if (firstMastResult != null) {
allNode.addAll(firstMastResult);//灏嗚妭鐐硅繘琛屼繚瀛�
@@ -450,7 +456,7 @@
}
//璁＄畻涓偣鍒扮粓鐐硅矾寰�
- List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), NavigationMapType.DFX.id);//灏忚溅浠庝腑鐐瑰埌缁堢偣锛屽浜庢湁璐х姸鎬侊紝浣跨敤DFX鍦板浘
if (secMastResult != null) {
allNode.addAll(secMastResult);//灏嗚妭鐐硅繘琛屼繚瀛�
@@ -478,15 +484,14 @@
commands.add(getPalletCommand((short) 2));
}
- navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
- if (firstMastResult != null) {
- //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
- navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ if (firstMastResult == null || secMastResult == null) {
+ throw new CoolException(MessageFormat.format( "鍥涘悜绌挎杞﹀嚭鍏ュ簱璺緞鎼滅储澶辫触 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
}
- if (secMastResult != null) {
- navigateMapData.writeNavigateNodeToRedisMap(secMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
- }
+ navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData.writeNavigateNodeToRedisMap(secMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
break;
case 3://鎵樼洏椤跺崌
case 4://鎵樼洏涓嬮檷
@@ -536,7 +541,7 @@
}
LocMast locMast = locMastService.queryByQrCode(startQr);
- List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), NavigationMapType.NONE.id);//鎵嬪姩鍛戒护-绉诲姩鍛戒护锛屼娇鐢ㄦ棤杩囨护鍦板浘
if (result != null) {
//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
@@ -572,7 +577,7 @@
int lev = Utils.getLev(locMast1.getLocNo());//绌挎杞﹀綋鍓嶉珮搴�
String liftSiteLocNo = Utils.levToOutInStaLocNo(lev);//褰撳墠妤煎眰绔欑偣搴撲綅鍙�
LocMast liftSitelocMast = locMastService.selectById(liftSiteLocNo);
- List<NavigateNode> result1 = NavigateUtils.calc(locMast1.getLocNo(), liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id);
+ List<NavigateNode> result1 = NavigateUtils.calc(locMast1.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id);//绉诲姩鍒版彁鍗囨満锛屼娇鐢ㄦ棤杩囨护鍦板浘
Short endStartCode = null;
if (result1 != null) {
@@ -675,7 +680,7 @@
shuttleProtocol.setPakMk(true);
return true;
}else {
- List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), NavigationMapType.DFX.id);//閿欒鎭㈠锛屼娇鐢―FX鍦板浘
if (result != null) {
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
@@ -781,7 +786,6 @@
}
}
-
//涓嬪彂鍛戒护
if (!write(command)) {
News.error("鍥涘悜绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
@@ -789,10 +793,22 @@
} else {
News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙戞垚鍔燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
- try {
- Thread.sleep(1000);//鍛戒护涓嬪彂瀹屽悗浼戠湢1s
- } catch (InterruptedException e) {
- throw new RuntimeException(e);
+ //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
+ if (shuttleOptService != null) {
+ BasShuttleOpt opt = new BasShuttleOpt(
+ assignCommand.getTaskNo().intValue(),
+ assignCommand.getShuttleNo().intValue(),
+ new Date(),
+ ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
+ assignCommand.getSourceLocNo(),
+ assignCommand.getLocNo(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command)
+ );
+ shuttleOptService.insert(opt);
}
//鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
@@ -805,23 +821,6 @@
redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
}else {
//宸叉墽琛屽畬鎴�
- //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
- BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
- if (shuttleOptService != null) {
- BasShuttleOpt opt = new BasShuttleOpt(
- assignCommand.getTaskNo().intValue(),
- assignCommand.getShuttleNo().intValue(),
- new Date(),
- ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
- assignCommand.getSourceLocNo(),
- assignCommand.getLocNo(),
- null,
- null,
- null,
- JSON.toJSONString(assignCommand)
- );
- shuttleOptService.insert(opt);
- }
if (redisCommand.getLiftSecurityMk()) {
//鏇鹃攣瀹氳繃鎻愬崌鏈猴紝闇�瑕佽繘琛岃В閿�
@@ -856,7 +855,7 @@
}else {
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
}
- News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛岀┛姊溅鍙�={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
+ 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));
}
}
@@ -1088,7 +1087,7 @@
* 姝ｅ父绉诲姩鍛戒护,榛樿绉诲姩閫熷害1000
*/
public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection, Short middleCodeNum, Integer middleToDistDistance) {
- return getMoveCommand(startCodeNum, distCodeNum, startToDistDistance, runDirection, middleCodeNum, middleToDistDistance, 1000);
+ return getMoveCommand(startCodeNum, distCodeNum, startToDistDistance, runDirection, middleCodeNum, middleToDistDistance, 500);
}
/**
--
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