From d9a0b7a278e76f9738f8eeb05ce13a4ef8e5cbcf Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 31 七月 2025 14:49:50 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/action/ShuttleAction.java | 140 ++++++++++++++++++----------------------------
1 files changed, 54 insertions(+), 86 deletions(-)
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index 393d2cb..d25b6cb 100644
--- a/src/main/java/com/zy/core/action/ShuttleAction.java
+++ b/src/main/java/com/zy/core/action/ShuttleAction.java
@@ -16,14 +16,12 @@
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;
@@ -71,11 +69,8 @@
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);
- }
+ //Clear Traffic Control
+ trafficControlThread.forceCancelTrafficControl(shuttleNo);
ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
@@ -163,6 +158,11 @@
//绉诲姩鍛戒护锛岄攣瀹氳矾寰�
if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ if (trafficControlThread == null) {
+ return false;
+ }
+
List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);
//鐢宠绠″埗
boolean apply = applyTrafficControl(commands, nodes, shuttleNo, taskNo);
@@ -183,6 +183,7 @@
if (!result) {
News.error("{} device can't lock path!", shuttleNo);
shuttleThread.offerSystemMsg("{} device can't lock path!", shuttleNo);
+ trafficControlThread.trafficReportError(shuttleNo, taskNo);
return false;//璺緞閿佸畾澶辫触
}
}
@@ -213,9 +214,6 @@
}
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
-
- //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
@@ -257,69 +255,60 @@
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]));
+ boolean supportContinuously = false;
+ int checkIdx = commandStep - 2;
+ if (checkIdx < 0) {
+ checkIdx = commandStep - 1;
}
- if (treeSet.isEmpty()) {
- return 1;
+ ShuttleCommand last2Command = commands.get(checkIdx);
+ if(last2Command.getComplete()){
+ supportContinuously = true;
+ checkIdx = commandStep - 1;
}
- String firstKey = searchKey + treeSet.first();
- Integer lastCommandIdx = (Integer) redisUtil.get(firstKey);
- ShuttleCommand lastCommand = commands.get(lastCommandIdx);
+ ShuttleCommand lastCommand = commands.get(checkIdx);
if (!lastCommand.getComplete()) {
//妫�娴嬫洿鏂板懡浠ゅ畬鎴�
- boolean checked = updateCommandComplete(lastCommandIdx, commands, shuttleNo);
+ boolean checked = updateCommandComplete(checkIdx, 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;
- }
+ if (!supportContinuously) {
+ return 0;
+ }
- //绉诲姩鎸囦护
- if(lastCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
- 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;
- }
+ 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();
+ //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;
- }
+ //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;
- }
+ 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
- }
-
+ 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
}
}
@@ -420,33 +409,19 @@
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());
- }
- }
+ //涓婃姤浜ょ
+ trafficControlThread.trafficReport(command.getNodesDeepCopy(), shuttleNo, shuttleProtocol.getTaskNo());
String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ return false;
+ }
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
}
+ command.setComplete(true);
}else {
return false;
}
@@ -503,19 +478,12 @@
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);
- }
+ List<NavigateNode> deepCopy = command.getNodesDeepCopy();
+ if (deepCopy != null) {
+ totalNodeList.addAll(deepCopy);
}
}
}
--
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