#移库任务

zjj

2025-02-17 54b4f53323d0833cbac86fd18932c5fa5a5447a8

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapData.java

@@ -4,11 +4,12 @@
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.wms.entity.BasMap;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.wcs.core.domain.dto.BasMapDto;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.enums.MapNodeType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
@@ -30,6 +31,8 @@
    private LocService locService;
    @Autowired
    private DictService dictService;
    @Autowired
    private NavigateMapData navigateMapData;

    private Integer lev;//地图楼层

@@ -46,63 +49,27 @@
    }

    public int[][] getData() {
        return getData(NavigationMapType.NONE.id, null, null);//默认读取无过滤的全部地图数据
    }

    public int[][] getData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            String mapFilename = "map_" + lev + ".json";

            String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//获取文件路径
            File file = new File(fileName);
            StringBuffer stringBuffer = new StringBuffer();
            if (file.isFile() && file.exists()) {
                InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
                BufferedReader br = new BufferedReader(isr);
                String lineTxt = null;
                while ((lineTxt = br.readLine()) != null) {
                    stringBuffer.append(lineTxt);
                }
                br.close();

                //解析json地图数据
                ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
                List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
                int[][] map = new int[lists.size()][];
                int j = 0;
                for (List<MapNode> list : lists) {
                    int[] tmp = new int[list.size()];
                    int i = 0;
                    for (MapNode mapNode : list) {
                        //将数据添加进二维数组
                        tmp[i++] = mapNode.getValue();
                    }
                    //数据添加进一维数组
                    map[j++] = tmp;
                }

                return map;
            } else {
                System.out.println("文件不存在!");
            }
        } catch (IOException ioException) {
            ioException.printStackTrace();
        }
        return null;
        return getDataFromRedis(NavigationMapType.NONE.id, null, null);//默认读取无过滤的全部地图数据
    }

    /**
     * 尝试从redis获取数据
     */
    public int[][] getDataFromRedis(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        String constantMap = DeviceRedisConstant.MAP;
        if(mapType == NavigationMapType.NONE_LOCK.id){
            constantMap = DeviceRedisConstant.BASE_MAP;
        }

        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
        Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
        Object o = redisUtil.get(constantMap + lev);
        if (o == null) {
            return null;
        }

        BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
        return this.getDataFormString(basMap.getData(), mapType, whitePoints, shuttlePoints);
        BasMapDto basMap = JSON.parseObject(o.toString(), BasMapDto.class);
        String mapData = basMap.getData();
        return this.getDataFormString(mapData, mapType, whitePoints, shuttlePoints);
    }

    /**
@@ -177,6 +144,17 @@
                    mapNode.setNo(object.getString("row") + "-" + object.getString("bay"));
                    mapNode.setXBase(object.getInteger("refx"));
                    mapNode.setYBase(object.getInteger("refy"));

                    if(mapNode.getValue() == MapNodeType.CONVEYOR.id) {
                        //输送线,判断小车是否可走
                        if (object.containsKey("conveyorHasGo")) {
                            if(object.getBoolean("conveyorHasGo")) {
                                //小车可走
                                mapNode.setValue(MapNodeType.CONVEYOR_CAR_GO.id);
                            }
                        }
                    }

                    nodes.add(mapNode);
                }

@@ -199,7 +177,7 @@
                    //存在空缺节点，自动补足
                    for (int i = defaultBay; i < node.getBay(); i++) {
                        MapNode mapNode = new MapNode();
                        mapNode.setValue(-1);
                        mapNode.setValue(MapNodeType.DISABLE.id);
                        mapNode.setTop(1000);
                        mapNode.setBottom(1000);
                        mapNode.setLeft(1000);
@@ -226,7 +204,7 @@
            ArrayList<ArrayList<MapNode>> lists = entry.getValue();//获取地图

            MapNode mapNode = new MapNode();
            mapNode.setValue(-1);
            mapNode.setValue(MapNodeType.DISABLE.id);
            mapNode.setTop(1000);
            mapNode.setBottom(1000);
            mapNode.setLeft(1000);
@@ -283,7 +261,7 @@
            return null;
        }

        BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
        BasMapDto basMap = JSON.parseObject(o.toString(), BasMapDto.class);
        ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
        List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
        return lists;
@@ -314,6 +292,7 @@
        //获取当前楼层库位数据
        List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
                .eq(Loc::getLev, lev)
                .eq(Loc::getStatus, 1)
                .orderByAsc(Loc::getRow, Loc::getBay));
        for (Loc loc : locs) {
            Integer row = loc.getRow();
@@ -342,16 +321,16 @@
            } else if (mapType == NavigationMapType.DFX.id) {
                //车辆有货
                //读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
                if (loc.getLocSts$().equals("F")
                        || loc.getLocSts$().equals("D")
                        || loc.getLocSts$().equals("X")
                if (loc.getLocStsFlag().equals("F")
                        || loc.getLocStsFlag().equals("D")
                        || loc.getLocStsFlag().equals("X")
                ) {
                    mapNode.setValue(-1);//禁用节点
                    mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                }
            } else if (mapType == NavigationMapType.NORMAL.id) {
            } else if (mapType == NavigationMapType.NORMAL.id || mapType == NavigationMapType.NONE_LOCK.id) {
                //过滤库位状态X
                if (loc.getLocSts$().equals("X")) {
                    mapNode.setValue(-1);//禁用节点
                if (loc.getLocStsFlag().equals("X")) {
                    mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                }
            }

@@ -367,7 +346,7 @@
                int y = points[1];
                List<MapNode> list = lists.get(x);
                MapNode mapNode = list.get(y);
                mapNode.setValue(66);//设置为车辆代码66
                mapNode.setValue(MapNodeType.CAR.id);//设置为车辆代码66
                //更新list
                list.set(y, mapNode);
                lists.set(x, list);