From c854f26ad2a0ff056cbb8505f838ac3e6b4a4d4c Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 22 十月 2023 17:28:27 +0800
Subject: [PATCH] #提升机异常修复
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 73 +++++++++++++++++++++++++++++++++++-
1 files changed, 71 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index 9a8b6d1..8c24a1b 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -35,6 +35,7 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
+import java.util.HashMap;
import java.util.List;
/**
@@ -386,6 +387,8 @@
return false;
}
+ checkIOSta(commands, commandStep);//妫�娴嬪皬杞︽槸鍚﹁繘鍑烘彁鍗囨満杈撻�佺珯
+
NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
boolean isLock = false;//鏄惁瑙ｉ攣璺緞
@@ -411,7 +414,10 @@
// nodes.addAll(command.getNodes());
// }
if (nodes != null) {
- navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ boolean result = navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ if (!result) {
+ return false;//瑙ｉ攣澶辫触
+ }
isLock = true;//瑙ｉ攣杩囪矾寰�
}
}
@@ -497,7 +503,10 @@
nodes.addAll(nextNodes);
}
if (nodes != null) {
- navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ boolean result = navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ if (!result) {
+ return false;//璺緞閿佸畾澶辫触
+ }
}
}
@@ -803,4 +812,64 @@
}
}
+ //妫�娴嬪皬杞︽槸鍚﹁繘鍑烘彁鍗囨満杈撻�佺珯
+ public void checkIOSta(List<NyShuttleHttpCommand> commands, int commandStep) {
+ if (commandStep != 0) {
+ NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);//涓婁竴姝ュ懡浠�
+ if (lastCommand.getRequest().getBody().get("requestType").equals("move")) {
+ //妫�娴嬭捣鐐规槸鍚︿负鎻愬崌鏈鸿緭閫佺珯鐐�
+ NyShuttleProtocol.NyShuttlePointClass start = JSON.parseObject(lastCommand.getRequest().getBody().get("start").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
+ int[] startPoint = NavigatePositionConvert.NyXyzToWCSXyz(start.getX(), start.getY(), start.getZ());
+ if (startPoint[0] == 13 && (startPoint[1] == 22 || startPoint[1] == 38 || startPoint[1] == 57)) {
+ //杈撻�佺珯鐐逛綅缃�
+
+ int liftNo;
+ if (startPoint[1] == 22) {
+ liftNo = 1;
+ } else if (startPoint[1] == 38) {
+ liftNo = 2;
+ } else {
+ liftNo = 3;
+ }
+
+ HashMap<String, Object> data = new HashMap<>();
+ data.put("lev", startPoint[2]);
+ data.put("status", false);//鍑鸿緭閫佺珯
+
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftNo, new Task(4, data));
+ }
+ }
+ }
+
+ if (commands.size() == commandStep) {
+ return;
+ }
+ NyShuttleHttpCommand command = commands.get(commandStep);//褰撳墠鍛戒护
+ if (command.getRequest().getBody().get("requestType").equals("move")) {
+ NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(command.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
+ int[] targetPoint = NavigatePositionConvert.NyXyzToWCSXyz(target.getX(), target.getY(), target.getZ());
+ //妫�娴嬬洰鏍囦綅缃槸鍚︿负鎻愬崌鏈鸿緭閫佺珯鐐�
+ if (targetPoint[0] == 13 && (targetPoint[1] == 22 || targetPoint[1] == 38 || targetPoint[1] == 57)) {
+ //杈撻�佺珯鐐逛綅缃�
+
+ int liftNo;
+ if (targetPoint[1] == 22) {
+ liftNo = 1;
+ } else if (targetPoint[1] == 38) {
+ liftNo = 2;
+ } else {
+ liftNo = 3;
+ }
+
+ HashMap<String, Object> data = new HashMap<>();
+ data.put("lev", targetPoint[2]);
+ data.put("status", true);//杩涜緭閫佺珯
+
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftNo, new Task(4, data));
+ }
+ }
+ }
+
}
--
Gitblit v1.9.1