From e80cb83c601a9a9a0b3db6d848ea605800d22bc7 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 01 十二月 2023 13:44:39 +0800
Subject: [PATCH] #盘点逻辑
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 550 ++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 464 insertions(+), 86 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index b2c39da..a076f5a 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -10,6 +10,7 @@
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
+import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
@@ -17,17 +18,22 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
+import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.NyShuttleProtocol;
+import com.zy.core.properties.SlaveProperties;
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;
+import java.util.HashMap;
import java.util.List;
/**
@@ -40,6 +46,7 @@
private ShuttleSlave slave;
private NyShuttleProtocol shuttleProtocol;
private RedisUtil redisUtil;
+ private Socket socket;
public NyShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
this.slave = slave;
@@ -61,10 +68,10 @@
case 1:
read();
break;
- // 鍐欏叆鏁版嵁
- case 2:
- write((NyShuttleHttpCommand) task.getData());
- break;
+// // 鍐欏叆鏁版嵁
+// case 2:
+// write((NyShuttleHttpCommand) task.getData());
+// break;
//涓嬪彂浠诲姟
case 3:
assignWork((ShuttleAssignCommand) task.getData());
@@ -81,13 +88,22 @@
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
&& shuttleProtocol.getTaskNo() != 0
- && shuttleProtocol.getPakMk()) {
+ && !shuttleProtocol.getPakMk()) {
//鎵ц涓嬩竴姝ユ寚浠�
executeWork(shuttleProtocol.getTaskNo().shortValue());
+ }
+
+ //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
+ if (shuttleProtocol.isIdle() && shuttleProtocol.getMoveLoc()) {
+ moveLoc();
}
} catch (Exception e) {
e.printStackTrace();
@@ -97,17 +113,12 @@
private void readStatus() {
try {
- if (null == shuttleProtocol) {
- shuttleProtocol = new NyShuttleProtocol();
- shuttleProtocol.setShuttleNo(slave.getId().shortValue());
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- }
-
//----------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()));
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ 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"));
@@ -156,15 +167,15 @@
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�
shuttleProtocol.setErrTime(jsonObject.getInteger("errTime"));
- //灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓簍rue
+ //灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓篺alse
if (shuttleProtocol.getFree() == 0) {
- shuttleProtocol.setPakMk(true);
+ shuttleProtocol.setPakMk(false);
}
//灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
@@ -230,15 +241,38 @@
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
// log.info(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
}
+ log.warn(JSON.toJSONString(shuttleProtocol));
}
} 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;
+ if (null == shuttleProtocol) {
+ shuttleProtocol = new NyShuttleProtocol();
+ shuttleProtocol.setShuttleNo(slave.getId().shortValue());
+ }
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ 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;
}
@@ -247,7 +281,7 @@
}
- private boolean write(NyShuttleHttpCommand command){
+ private boolean write(NyShuttleHttpCommand command, ShuttleAssignCommand assignCommand) {
if (null == command) {
News.error("鍥涘悜绌挎杞﹀啓鍏ュ懡浠や负绌�");
return false;
@@ -265,11 +299,49 @@
}
//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);
+ }
+ }
+
+ //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
+ BasShuttleOpt opt = null;
+ if (shuttleOptService != null) {
+ 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),
+ null,
+ JSON.toJSONString(shuttleProtocol)
+ );
+ opt.setSend(1);//宸蹭笅鍙�
+ opt.setResponse(JSON.toJSONString(result));//璇锋眰鍝嶅簲
+ opt.setDeviceWrk(command.getWrkNo().toString());//璁惧宸ヤ綔鍙�
+ shuttleOptService.insert(opt);
+ }
+
if (result == null) {
return false;//璇锋眰澶辫触
}
-
return true;
}
@@ -284,7 +356,7 @@
shuttleProtocol.setAssignCommand(assignCommand);
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("shuttle_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.SHUTTLE.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
//鎵ц涓嬪彂浠诲姟
executeWork(assignCommand.getTaskNo());
}
@@ -296,24 +368,32 @@
return false;
}
- WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
+ NavigateMapUtils navigateMapUtils = SpringUtils.getBean(NavigateMapUtils.class);
+ WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());
- Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
if (o == null) {
return false;
}
+
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
- List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
//褰撳墠姝ュ簭
int commandStep = redisCommand.getCommandStep();
if (commands.size() == 0) {
return false;
}
- NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ checkIOSta(commands, commandStep);//妫�娴嬪皬杞︽槸鍚﹁繘鍑烘彁鍗囨満杈撻�佺珯
+
+ boolean isLock = false;//鏄惁瑙ｉ攣璺緞
//鍙栧嚭鍛戒护
- NyShuttleHttpCommand command = commands.get(commandStep);//褰撳墠鍛戒护
+ NyShuttleHttpCommand command = null;
+ if (commandStep < commands.size()) {
+ 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);
@@ -324,20 +404,51 @@
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
+ //瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰�
List<NavigateNode> nodes = lastCommand.getNodes();
- nodes.addAll(command.getNodes());
- navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+// //瑙ｉ攣褰撳墠璺緞
+// if (command != null && command.getNodes() != null) {
+// nodes.addAll(command.getNodes());
+// }
+ if (nodes != null) {
+ NavigateNode targetNode = assignCommand.getNodes().get(assignCommand.getNodes().size() - 1);//鏈�缁堣妭鐐�
+ NavigateNode node = nodes.get(nodes.size() - 1);
+ if (!(targetNode.getX() == node.getX() && targetNode.getY() == node.getY())) {
+ nodes.remove(nodes.size() - 1);//鍓旈櫎灏捐妭鐐�
+ }
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), 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�
+ }
}
}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));
+ redisUtil.set(RedisKeyType.SHUTTLE.key + 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;
+ }
+
+ //鍒ゆ柇鏄惁涓烘渶鍚庝竴鏉″懡浠や笖鍛戒护鎵ц瀹屾垚锛屾姏鍑虹瓑寰呯‘璁ょ姸鎬�
+ NyShuttleHttpCommand endCommand = commands.get(commands.size() - 1);
+ if (endCommand.getComplete()) {
+ //鍒犻櫎redis
+ redisUtil.del(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo());
+
+ if (!assignCommand.getCharge()) {
+ //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ }else {
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
+ }
+ 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(commands));
+
+ return false;//绂佹鍐嶄笅鍙戝懡浠�
}
}
@@ -348,77 +459,80 @@
}
if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
- return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
+ String requestType = command.getRequest().getBody().get("requestType").toString();
+ //鍋滄鍏呯數 绠″埗鍛戒护
+ if(!(requestType.equals("stopCharge") && shuttleProtocol.getChargState() == 1) && !requestType.equals("resume")){
+ 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)) {
+// //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�鏌ヨ矾寰勬槸鍚﹀彲琛岃蛋(妫�鏌ヨ矾寰勯攣瀹氱姸鎬侊紝妫�娴嬭矾寰勬槸鍚︽湁鍏朵粬灏忚溅)
- //妫�娴嬪綋鍓嶈璧拌矾寰勶紝鍜屼笅涓�姝ヨ矾寰�
- boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(command.getNodes(), shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
- boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
- if (!checkPathIsAvailable && !checkPathIsAvailable2) {
- 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 (command.getRequest().getBody().get("requestType").equals("move")) {
+// ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆鑺傜偣鐨勭櫧鍚嶅崟
+// if (wrkMast != null && ((wrkMast.getIoType() > 100 && wrkMast.getIoType() < 200) || wrkMast.getIoType() == 11)) {
+// //鍑哄簱浠诲姟锛屼笉妫�娴嬮鑺傜偣
+// int[] startArr = NavigatePositionConvert.positionToXY(wrkMast.getSourceLocNo());//寮�濮嬭妭鐐�
+// whiteList.add(startArr);
+// }
+//
+// //瑙ｉ攣杩囪矾寰勶紝鍙娴嬩笅涓�娈佃矾寰勬槸鍚﹀彲璧�(褰撳墠璺緞宸茬粡琚攣瀹氭棤闇�鍐嶆娴�)
+// if (isLock) {
+// //鍙娴嬩笅涓�娈佃矾寰勬槸鍚﹀彲璧�(褰撳墠璺緞宸茬粡琚攣瀹氭棤闇�鍐嶆娴�)
+// //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
+// if (!checkPath(nextNodes == null ? command.getNodes() : nextNodes, null, whiteList)) {
+// return false;
+// }
+// }else {
+// //妫�娴嬪綋鍓嶈矾寰勫拰涓嬩竴娈佃矾寰�
+// //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
+// if (!checkPath(command.getNodes(), nextNodes, whiteList)) {
+// 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();
+// if (nextNodes != null) {
+// nodes.addAll(nextNodes);
+// }
+// if (nodes != null) {
+// boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), 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
+// }
+// }
+// }
//鍙墽琛屽懡浠�
- if (!write(command)) {
+ if (!write(command, assignCommand)) {
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));
return false;
}
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));
//灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- shuttleProtocol.setPakMk(false);
+ shuttleProtocol.setPakMk(true);
- //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),
- null
- );
- shuttleOptService.insert(opt);
+ String requestType = command.getRequest().getBody().get("requestType").toString();
+ if (requestType.equals("updateFloor")) {
+ //鏇存柊妤煎眰鍛戒护
+ shuttleProtocol.setPakMk(false);//鎭㈠鏍囪
}
- //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
- if (commandStep < commands.size() - 1) {
- //鏇存柊redis鏁版嵁
- //姝ュ簭澧炲姞
- commandStep++;
- redisCommand.setCommandStep(commandStep);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
- }else {
- //宸叉墽琛屽畬鎴�
-
- //鍒犻櫎redis
- redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
-
- if (!assignCommand.getCharge()) {
- //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
- }else {
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
- }
- 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));
- }
+ commandStep++;
+ //鏇存柊redis鏁版嵁
+ redisCommand.setCommandStep(commandStep);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
return true;
}
@@ -430,10 +544,12 @@
return false;
}
- Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
if (o == null) {
return false;
}
+
+ WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
//褰撳墠姝ュ簭
@@ -477,6 +593,12 @@
return true;//鎻愬崌鏈鸿揪鍒板皬杞︽ゼ灞傦紝鏀捐
}
+ //鎼滅储鏄惁鏈夊叾浠栦换鍔″崰鐢ㄤ簡鎻愬崌鏈猴紝濡傛灉鍗犵敤鎻愬崌鏈虹殑浠诲姟鍜屽綋鍓嶄换鍔＄浉鍚岋紝鍒欒繍琛屾墽琛�
+ WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
+ if (wrkMast1 != null && wrkMast1.getWrkNo() != wrkNo.intValue()) {
+ return false;
+ }
+
//鎻愬崌鏈烘湭鍒拌揪灏忚溅妤煎眰锛屽懠鍙彁鍗囨満
//鑾峰彇鎻愬崌鏈哄懡浠�
NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, null, basDevp.getDevNo(), wrkNo.intValue());
@@ -496,4 +618,260 @@
return false;//榛樿涓嶆斁琛�
}
+ /**
+ * 妫�娴嬬┛姊溅鏄惁鍦ㄦ彁鍗囨満鍐�
+ * 濡傜┛姊溅鍦ㄦ彁鍗囨満鍐咃紝蹇呴』绛夊緟鎻愬崌鏈虹┖闂叉墠鍙墽琛岀┛姊溅鍛戒护
+ */
+ private boolean checkShuttleInTheLift(Short wrkNo) {
+ //璇诲彇redis鏁版嵁
+ if (wrkNo == null) {
+ return false;
+ }
+
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+ if (o == null) {
+ return false;
+ }
+
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ BasLift basLift = liftService.selectById(liftSlave.getId());
+ if (basLift == null) {
+ continue;
+ }
+ Integer liftX = basLift.getPoint$().getX();
+ Integer liftY = basLift.getPoint$().getY();
+ if (liftX.equals(shuttleProtocol.getPoint().getX()) && liftY.equals(shuttleProtocol.getPoint().getY())) {
+ //灏忚溅鍦ㄦ彁鍗囨満鍐�
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (liftProtocol.isIdle()) {
+ //鎻愬崌鏈哄浜庣┖闂诧紝鏀捐
+ return true;
+ }
+ }else {
+ return true;//涓嶅湪鎻愬崌鏈哄唴锛屾斁琛�
+ }
+ }
+ return false;//榛樿涓嶆斁琛�
+ }
+
+ /**
+ * 妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
+ * 濡傛灉璺緞涓虹洰鏍囧簱浣嶏紝浣嗕笉鍙璧帮紝绯荤粺灏嗗皾璇曢噸鏂拌绠楄矾寰�
+ */
+ private boolean checkPath(List<NavigateNode> currentNodes, List<NavigateNode> nextNodes, List<int[]> whitePoints) {
+ //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋(妫�鏌ヨ矾寰勯攣瀹氱姸鎬侊紝妫�娴嬭矾寰勬槸鍚︽湁鍏朵粬灏忚溅)
+ //妫�娴嬪綋鍓嶈璧拌矾寰勶紝鍜屼笅涓�姝ヨ矾寰�
+ boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), whitePoints);
+ if (nextNodes == null) {
+ if (checkPathIsAvailable) {
+ return true;//鍙璧�
+ }
+ return false;
+ }else {
+ boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), whitePoints);
+ if (checkPathIsAvailable && checkPathIsAvailable2) {
+ return true;//鍙璧�
+ }
+ }
+
+// ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+// NavigateNode currentTarget = currentNodes.get(currentNodes.size() - 1);
+// String currentLocNo = NavigatePositionConvert.nodeToLocNo(currentTarget);
+// NavigateNode nextTarget = nextNodes.get(nextNodes.size() - 1);
+// String nextLocNo = NavigatePositionConvert.nodeToLocNo(nextTarget);
+// if (assignCommand.getLocNo().equals(currentLocNo) || assignCommand.getLocNo().equals(nextLocNo)) {
+// //褰撳墠璺緞鏈�鍚庝竴涓妭鐐规槸鐩爣搴撲綅锛岃繘琛岃矾寰勬娴嬶紝濡傛灉涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
+// //涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
+// NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getShuttleNo().intValue(), shuttleProtocol.getTaskNo(), shuttleProtocol.getCurrentLocNo(), assignCommand.getLocNo());
+// if (result == null) {
+// return false;//璺緞璁＄畻澶辫触锛屼笉鍙璧�
+// }
+//
+// List<NyShuttleHttpCommand> newCommands = result.getCommands();//鏂拌矾寰�
+//
+// //褰撳墠姝ュ簭
+// int commandStep = redisCommand.getCommandStep();
+// List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
+//
+// commands.remove(commandStep);//绉婚櫎褰撳墠姝ュ簭鎸囦护
+// if (assignCommand.getLocNo().equals(currentLocNo)) {
+// //褰撳墠璺緞锛岄渶瑕佸啀澶氱Щ闄や笅涓�姝ユ寚浠�
+// commands.remove(commandStep + 1);
+// }
+//
+// //灏嗘柊璺緞娣诲姞杩涙寚浠ら泦鍚�
+// commands.addAll(commandStep, newCommands);
+// assignCommand.setCommands(commands);
+// redisCommand.setAssignCommand(assignCommand);
+// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+// redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+// return false;//褰撳墠涓嶅彲琛岃蛋锛岀瓑寰呬笅涓�娆℃墽琛岃蛋鏂拌矾寰�
+// }
+
+ return false;//涓嶅彲琛岃蛋
+ }
+
+ /**
+ * 璺戝簱绋嬪簭
+ */
+ private void moveLoc() {
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
+ CommonService commonService = SpringUtils.getBean(CommonService.class);
+ WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
+ int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//灏忚溅褰撳墠妤煎眰
+ if (!shuttleProtocol.isIdle()) {
+ return;
+ }
+
+ WrkMast wrkMast = wrkMastMapper.selectShuttleHasMoveWorking(shuttleProtocol.getShuttleNo().intValue());
+ if (wrkMast != null) {
+ return;
+ }
+
+ if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
+ //璺戝簱缁撴潫
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ return;
+ }
+
+ if (shuttleProtocol.getMoveType() == 0) {//璺戣建閬�
+ ArrayList<String> locs = new ArrayList<>();
+ for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
+ String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
+ locs.add(locNo);
+ }
+ List<LocMast> locMasts = locMastService.selectEmptyLocNos(locs);
+ if (locMasts.isEmpty()) {
+ //绌哄簱浣�
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ return;
+ }
+
+ LocMast start = locMasts.get(0);
+ LocMast target = locMasts.get(locMasts.size() - 1);
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄨ捣鐐逛綅缃�
+ if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//涓嶅湪璧风偣浣嶇疆锛岃皟搴﹀幓璧风偣浣嶇疆
+ shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), start.getLocNo());
+ }else {
+ //鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
+ }else {
+ boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), target.getLocNo());
+ if (result) {//璋冨害鎴愬姛
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ }
+ }
+ }
+ }else {//璺戝簱浣�
+ Integer xCurrent = shuttleProtocol.getXCurrent();
+ if (xCurrent > shuttleProtocol.getXTarget()) {//褰揦鍊煎ぇ浜嶺鐩爣鍊硷紝杩涜褰掗浂涓擸鏂瑰悜+1
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ return;
+ }
+
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+ String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
+ LocMast target = locMastService.selectById(locNo);
+ if (target == null) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ return;
+ }
+
+ if (!target.getLocSts().equals("O")) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ return;
+ }
+
+ //璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
+ }else {
+ boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), target.getLocNo());
+ if (result) {//璋冨害鎴愬姛
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ }
+ }
+ }
+ }
+
+ //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));
+ }
+ }
+ }
+
}
--
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