#

zjj

2024-06-20 5a2ec88cf71194456a371efda15f3cab5f6225ae

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

@@ -1,93 +1,153 @@
//package com.zy.asrs.wcs.core.utils;
//
//import com.alibaba.fastjson.JSON;
//import com.zy.asrs.common.wms.entity.BasMap;
//import com.zy.asrs.framework.common.SpringUtils;
//import com.zy.asrs.wcs.core.model.MapNode;
//import com.zy.asrs.wcs.core.model.NavigateNode;
//import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
//import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
//import org.springframework.stereotype.Component;
//
//import java.util.ArrayList;
//import java.util.Date;
//import java.util.List;
//
//@Component
//public class NavigateMapUtils {
//
//    /**
//     * 写入路径节点数据到redis地图中
//     * lock为true 禁用库位，lock为false恢复库位
//     */
//    public synchronized boolean writeNavigateNodeToRedisMap(Integer lev, Integer shuttleNo, List<NavigateNode> nodes, boolean lock) {
//        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
//        try {
//            if (nodes.isEmpty()) {
//                return true;
//            }
//
//            NavigateMapData navigateMapData = new NavigateMapData(lev);
//
//            Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
//            if (o == null) {
//                return false;
//            }
//
//            //获取小车节点
//            List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, lev);
//
//            BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
//            ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
//            //带小车地图
//            List<List<MapNode>> listsHasShuttle = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, shuttlePoints);//获取带小车地图数据
//            List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//获取全部地图数据
//
//            //检测路径是否被锁定
//            if (lock) {
//                for (NavigateNode node : nodes) {
//                    List<MapNode> listX = listsHasShuttle.get(node.getX());
//                    MapNode mapNode = listX.get(node.getY());
//                    if (mapNode.getValue() == -999) {
//                        return false;//路径被锁定过，禁止再次锁定
//                    }
//                    if (mapNode.getValue() == 66) {
//                        return false;//路径存在小车，禁止锁定
//                    }
//                }
//            }
//
//            //尝试锁定/解锁路径
//            NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());
//            List<List<MapNode>> realMap = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)
//            for (NavigateNode node : nodes) {
//                if (node.getZ() != lev) {
//                    continue;
//                }
//
//                List<MapNode> listX = lists.get(node.getX());
//                MapNode mapNode = listX.get(node.getY());
//                if (lock) {
//                    mapNode.setValue(-999);//禁用库位
//                } else {
//                    //获取原始节点数据
//                    List<MapNode> rows = realMap.get(node.getX());
//                    MapNode col = rows.get(node.getY());
//                    mapNode.setValue(col.getValue());//恢复库位
//                }
//
//                listX.set(node.getY(), mapNode);
//                lists.set(node.getX(), listX);
//            }
//            basMap.setData(JSON.toJSONString(lists));
//            basMap.setUpdateTime(new Date());
//            //将数据库地图数据存入redis
//            redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(basMap));
//            return true;
//        } catch (Exception e) {
//            e.printStackTrace();
//        }
//        return false;
//    }
//
//}
package com.zy.asrs.wcs.core.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

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

@Component
public class NavigateMapUtils {

    @Autowired
    private NavigateMapData navigateMapData;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private ObjectMapper objectMapper;

    /**
     * 写入路径节点数据到redis地图中
     * lock为true 禁用库位，lock为false恢复库位
     */
    public synchronized boolean writeNavigateNodeToRedisMap(Integer lev, Integer shuttleNo, List<NavigateNode> nodes, boolean lock) {
        try {
            if (nodes.isEmpty()) {
                return true;
            }

            navigateMapData.setLev(lev);
            Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
            if (o == null) {
                return false;
            }

            //获取小车节点
            List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, lev);

            RedisMapDto redisMap = JSON.parseObject(o.toString(), RedisMapDto.class);
            ArrayList arrayList = JSON.parseObject(redisMap.getData(), ArrayList.class);
            //带小车地图
            List<List<MapNode>> listsHasShuttle = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, shuttlePoints);//获取带小车地图数据
            List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//获取全部地图数据

            //检测路径是否被锁定
            if (lock) {
                for (NavigateNode node : nodes) {
                    List<MapNode> listX = listsHasShuttle.get(node.getX());
                    MapNode mapNode = listX.get(node.getY());
                    if (mapNode.getValue() == -999) {
                        return false;//路径被锁定过，禁止再次锁定
                    }
                    if (mapNode.getValue() == 66) {
                        return false;//路径存在小车，禁止锁定
                    }
                }
            }

            //尝试锁定/解锁路径
            navigateMapData.setLev(nodes.get(0).getZ());
            List<List<MapNode>> realMap = navigateMapData.getJsonDataFromDict(-1, null, null);//获取完整地图(包括入库出库)
            for (NavigateNode node : nodes) {
                if (node.getZ() != lev) {
                    continue;
                }

                List<MapNode> listX = lists.get(node.getX());
                MapNode mapNode = listX.get(node.getY());
                if (lock) {
                    mapNode.setValue(-999);//禁用库位
                } else {
                    //获取原始节点数据
                    List<MapNode> rows = realMap.get(node.getX());
                    MapNode col = rows.get(node.getY());
                    mapNode.setValue(col.getValue());//恢复库位
                }

                listX.set(node.getY(), mapNode);
                lists.set(node.getX(), listX);
            }
            redisMap.setData(JSON.toJSONString(lists));
            redisMap.setUpdateTime(new Date());
            //将数据库地图数据存入redis
            redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(redisMap, SerializerFeature.DisableCircularReferenceDetect));

            //保存路径锁节点
            saveLockPath(lev, nodes, lock);
            return true;
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
    }

    //保存路径锁节点
    public void saveLockPath(Integer lev, List<NavigateNode> nodes, boolean lock) {
        Object o = redisUtil.get(DeviceRedisConstant.LOCK_PATH + lev);
        List<NavigateNode> navigateNodes = new ArrayList<>();
        if (o != null) {
            navigateNodes = JSON.parseArray(o.toString(), NavigateNode.class);
        }

        if (lock) {
            navigateNodes.addAll(nodes);
            redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, JSON.toJSONString(navigateNodes, SerializerFeature.DisableCircularReferenceDetect));
        }else {
            List<NavigateNode> tmp = new ArrayList<>();
            for (NavigateNode navigateNode : navigateNodes) {
                boolean flag = true;
                for (NavigateNode node : nodes) {
                    if (navigateNode.getX() == node.getX()
                            && navigateNode.getY() == node.getY()
                            && navigateNode.getZ() == node.getZ()) {
                        flag = false;
                        break;
                    }
                }

                if (flag) {
                    tmp.add(navigateNode);
                }
            }

            redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, JSON.toJSONString(tmp, SerializerFeature.DisableCircularReferenceDetect));
        }
    }

    //获取路径锁节点
    public List<NavigateNode> getLockPath(Integer lev) {
        Object obj = redisUtil.get(DeviceRedisConstant.LOCK_PATH + lev);
        List<NavigateNode> navigateNodes = new ArrayList<>();
        if (obj != null) {
            try {
                navigateNodes = objectMapper.readValue(obj.toString(), new TypeReference<List<NavigateNode>>() {});
            } catch (JsonProcessingException e) {
                throw new RuntimeException(e);
            }
        }

        return navigateNodes;
    }

}