package com.zy.common.utils;
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import com.core.common.SpringUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.model.NyShuttleOperaResult;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.core.model.command.NyShuttleHttpCommand;
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import java.util.ArrayList;
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import java.util.List;
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/**
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* 牛眼四向车操作工具类
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* 此工具类只要作用于获取小车的各类命令List，移动命令、搬运货物命令、复位命令等。如命令为移动命令，还将返回行走路径List
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*/
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public class NyShuttleOperaUtils {
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/**
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* 计算并获取小车从起点——中间点——目标点之间搬运货物动作命令
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* @param shuttleNo 小车号
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* @param wrkNo 工作号
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* @param startPoint 起点（小车当前位置）
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* @param targetPoint 目标点（货物目标位置）
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*/
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public static synchronized NyShuttleOperaResult getShuttleTransportCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint) {
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//行走路径
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ArrayList<NavigateNode> nodes = new ArrayList<>();
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//命令集合
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ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
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//计算起点到目标点命令
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NyShuttleOperaResult result = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, targetPoint, NavigationMapType.DFX.id);
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if (result == null) {
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//计算结果必须不为空，否则计算失败
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return null;
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}
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nodes.addAll(result.getNodes());
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//起点位置下发一条顶升命令将货物进行搬运
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commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, true));
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commands.addAll(result.getCommands());//起点到目标点移动命令
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//当小车行走到目标点后，需要下发一条下降命令将货物放置
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commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, false));
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return result(commands, nodes);
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}
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/**
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* 计算并获取小车从起点——中间点——目标点之间搬运货物动作命令
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* @param shuttleNo 小车号
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* @param wrkNo 工作号
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* @param startPoint 起点（小车当前位置）
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* @param middlePoint 中间点（货物位置）
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* @param targetPoint 目标点（货物目标位置）
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*/
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public static synchronized NyShuttleOperaResult getShuttleTransportCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String middlePoint, String targetPoint) {
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//行走路径
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ArrayList<NavigateNode> nodes = new ArrayList<>();
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//命令集合
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ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
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if (!startPoint.equals(middlePoint)) {//起点和中间点不一致，需要计算起点到中间点路径
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//计算起点到中间点命令
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NyShuttleOperaResult result1 = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, middlePoint, NavigationMapType.NORMAL.id);
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if (result1 == null) {
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//计算结果必须不为空，否则计算失败
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return null;
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}
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nodes.addAll(result1.getNodes());
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commands.addAll(result1.getCommands());
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}
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//计算中间点到目标点命令
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NyShuttleOperaResult result2 = getStartToTargetCommands(shuttleNo, wrkNo, middlePoint, targetPoint, NavigationMapType.DFX.id);
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if (result2 == null) {
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//计算结果必须不为空，否则计算失败
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return null;
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}
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nodes.addAll(result2.getNodes());
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//当小车行走到中间点后，需要下发一条顶升命令将货物进行搬运
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commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, true));
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commands.addAll(result2.getCommands());//中间点到目标点移动命令
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//当小车行走到目标点后，需要下发一条下降命令将货物放置
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commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, false));
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return result(commands, nodes);
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}
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/**
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* 获取起点到目标点行走命令
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*/
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public static synchronized NyShuttleOperaResult getStartToTargetCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint, Integer mapType) {
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NavigateMapUtils navigateMapUtils = SpringUtils.getBean(NavigateMapUtils.class);
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//计算起点到目标点行走节点
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List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startPoint)), null);
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if (calc == null) {
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return null;
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}
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//命令集合
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ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
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List<NavigateNode> allNode = new ArrayList<>();
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//获取分段路径
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ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
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//将每一段路径分成command指令
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for (ArrayList<NavigateNode> nodes : data) {
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//开始路径
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NavigateNode startPath = nodes.get(0);
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//目标路径
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NavigateNode targetPath = nodes.get(nodes.size() - 1);
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//获取移动命令
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NyShuttleHttpCommand moveCommand = NyHttpUtils.getMoveCommand(shuttleNo, wrkNo, startPath, targetPath);
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moveCommand.setNodes(nodes);//将行走节点添加到每一步命令中
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commands.add(moveCommand);
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allNode.addAll(nodes);
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}
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boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), shuttleNo, allNode, true);//锁定路径
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if (!result) {
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return null;//路径锁定失败
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}
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return result(commands, calc);
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}
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/**
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* 获取起点到目标点行走命令(可传白名单)
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*/
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public static synchronized NyShuttleOperaResult getStartToTargetCommandsByWhites(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint, Integer mapType, List<int[]> whites) {
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NavigateMapUtils navigateMapUtils = SpringUtils.getBean(NavigateMapUtils.class);
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//计算起点到目标点行走节点
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List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startPoint)), whites);
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if (calc == null) {
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return null;
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}
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//命令集合
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ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
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List<NavigateNode> allNode = new ArrayList<>();
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//获取分段路径
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ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
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//将每一段路径分成command指令
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for (ArrayList<NavigateNode> nodes : data) {
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//开始路径
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NavigateNode startPath = nodes.get(0);
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//目标路径
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NavigateNode targetPath = nodes.get(nodes.size() - 1);
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//获取移动命令
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NyShuttleHttpCommand moveCommand = NyHttpUtils.getMoveCommand(shuttleNo, wrkNo, startPath, targetPath);
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moveCommand.setNodes(nodes);//将行走节点添加到每一步命令中
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commands.add(moveCommand);
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allNode.addAll(nodes);
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}
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//锁定路径时剔除白名单节点
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ArrayList<NavigateNode> nodes = new ArrayList<>();
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for (NavigateNode node : allNode) {
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boolean flag = false;
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for (int[] white : whites) {
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if (node.getX() == white[0] && node.getY() == white[1]) {
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flag = true;//存在白名单节点
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break;//跳过白名单节点
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}
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}
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if (!flag) {
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nodes.add(node);
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}
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}
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boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), shuttleNo, nodes, true);//锁定路径
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if (!result) {
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return null;//路径锁定失败
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}
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return result(commands, calc);
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}
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//返回结果集
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public static NyShuttleOperaResult result(List<NyShuttleHttpCommand> commands, List<NavigateNode> nodes) {
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return new NyShuttleOperaResult(commands, nodes);
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}
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}
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