zy-asrs-master.git

			@@ -1,26 +1,31 @@
			package com.zy.asrs.wcs.core.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONArray;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
			import com.zy.asrs.framework.common.Cools;
			import com.zy.asrs.framework.common.SnowflakeIdWorker;
			import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
			import com.zy.asrs.wcs.core.entity.*;
			import com.zy.asrs.wcs.core.kernel.AnalyzeService;
			import com.zy.asrs.wcs.core.model.MapNode;
			import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
			import com.zy.asrs.wcs.core.model.enums.MotionStsType;
			import com.zy.asrs.wcs.core.model.enums.TaskStsType;
			import com.zy.asrs.wcs.core.service.*;
			import com.zy.asrs.wcs.core.utils.RedisUtil;
			import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
			import com.zy.asrs.wcs.core.utils.Utils;
			import com.zy.asrs.wcs.rcs.News;
			import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
			import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
			import com.zy.asrs.wcs.rcs.entity.Device;
			import com.zy.asrs.wcs.rcs.entity.DeviceType;
			import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
			import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
			import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
			import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
			import com.zy.asrs.wcs.rcs.service.DeviceService;
			import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
			import com.zy.asrs.wcs.rcs.thread.DevpThread;
			import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
			import com.zy.asrs.wcs.system.entity.Dict;
			@@ -30,9 +35,7 @@
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Transactional;

			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.*;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -52,8 +55,6 @@
			@Autowired
			private DeviceService deviceService;
			@Autowired
			private DeviceTypeService deviceTypeService;
			@Autowired
			private LocCtgService locCtgService;
			@Autowired
			private LocService locService;
			@@ -65,6 +66,8 @@
			private DictService dictService;
			@Autowired
			private ShuttleDispatcher shuttleDispatcher;
			@Autowired
			private RedisUtil redisUtil;

			/**
			* 组托
			@@ -72,6 +75,118 @@
			*/
			public synchronized void generateInboundWrk() {

			}

			/**
			* 初始化实时地图
			*/
			public synchronized void initRealtimeBasMap() {
			try {
			List<Dict> dicts = dictService.list(new LambdaQueryWrapper<Dict>()
			.like(Dict::getFlag, "map")
			.eq(Dict::getStatus, 1));

			TreeMap<Integer, ArrayList<ArrayList<MapNode>>> levData = new TreeMap<>();
			for (Dict dict : dicts) {
			String[] split = dict.getFlag().split("-");
			int lev = Integer.parseInt(split[1]);

			TreeMap<Integer, List<JSONObject>> rows = new TreeMap<>();
			//排序Row
			JSONArray value = JSON.parseArray(dict.getValue());
			for (Object o : value) {
			JSONObject item = JSON.parseObject(o.toString());
			if (item.getString("type").equals("SHELF")) {
			JSONObject property = JSON.parseObject(item.getString("property"));
			Integer row1 = property.getInteger("row");
			ArrayList<JSONObject> bays = new ArrayList<>();
			if (rows.containsKey(row1)) {
			bays.addAll(rows.get(row1));
			}
			bays.add(property);
			rows.put(row1, bays);
			}
			}

			ArrayList<ArrayList<MapNode>> list = new ArrayList<>();
			//排序Bay
			for (Map.Entry<Integer, List<JSONObject>> entry : rows.entrySet()) {
			ArrayList<MapNode> nodes = new ArrayList<>();
			for (JSONObject object : entry.getValue()) {
			MapNode mapNode = new MapNode();
			mapNode.setValue(object.getInteger("shelfType"));
			mapNode.setTop(object.getInteger("top"));
			mapNode.setBottom(object.getInteger("bottom"));
			mapNode.setLeft(object.getInteger("left"));
			mapNode.setRight(object.getInteger("right"));
			mapNode.setRow(object.getInteger("row"));
			mapNode.setBay(object.getInteger("bay"));
			mapNode.setNo(object.getString("row") + "-" + object.getString("bay"));
			nodes.add(mapNode);
			}

			Collections.sort(nodes, new Comparator<MapNode>() {
			@Override
			public int compare(MapNode o1, MapNode o2) {
			return Integer.compare(o1.getBay(), o2.getBay());
			}
			});

			list.add(nodes);
			}

			levData.put(lev, list);
			}

			for (Map.Entry<Integer, ArrayList<ArrayList<MapNode>>> entry : levData.entrySet()) {
			ArrayList<ArrayList<MapNode>> lists = entry.getValue();//获取地图

			MapNode mapNode = new MapNode();
			mapNode.setValue(-1);
			mapNode.setTop(1000);
			mapNode.setBottom(1000);
			mapNode.setLeft(1000);
			mapNode.setRight(1000);
			mapNode.setRow(0);
			mapNode.setBay(0);
			mapNode.setNo("0-0");

			//获取最长row
			int row = 0;
			//给每个row首尾增加-1节点
			for (ArrayList<MapNode> list : lists) {
			if (list.size() > row) {
			row = list.size();
			}

			list.add(0, mapNode.clone());
			list.add(mapNode.clone());
			}

			ArrayList<MapNode> headNodes = new ArrayList<>();
			ArrayList<MapNode> footerNodes = new ArrayList<>();
			for (int i = 0; i < row+2; i++) {
			headNodes.add(mapNode.clone());
			footerNodes.add(mapNode.clone());
			}

			lists.add(0, headNodes);
			lists.add(footerNodes);

			Integer lev = entry.getKey();
			Date now = new Date();
			RedisMapDto map = new RedisMapDto();
			map.setData(JSON.toJSONString(lists));
			map.setCreateTime(now);
			map.setUpdateTime(now);
			map.setLev(lev);

			//将地图数据存入redis
			redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(map));
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			// 解析入库工作档
			@@ -173,15 +288,8 @@
			return;
			}

			DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
			.eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
			.eq(DeviceType::getStatus, 1));
			if (deviceType == null) {
			return;
			}

			List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceType, deviceType.getId())
			.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
			.eq(Device::getStatus, 1));
			for (Device device : list) {
			//获取四向穿梭车线程
			@@ -196,6 +304,10 @@
			}

			if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
			continue;
			}

			if (!shuttleThread.isRequireCharge()) {
			continue;
			}

			@@ -320,15 +432,8 @@
			return;
			}

			DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
			.eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
			.eq(DeviceType::getStatus, 1));
			if (deviceType == null) {
			return;
			}

			List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceType, deviceType.getId())
			.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
			.eq(Device::getStatus, 1));
			for (Device device : list) {
			//获取四向穿梭车线程
			@@ -337,6 +442,11 @@
			continue;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}

			if (!shuttleThread.isCharging()) {
			continue;
			}