Merge remote-tracking branch 'origin/jxgtwcs' into jxgtwcs

zjj

2025-06-09 80d97d40c44165674ee0168be5f08c8ca52d3c06

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

@@ -2,13 +2,19 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.wcs.core.entity.ShuttleStandby;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.PythonSimilarityResult;
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.ShuttleStandbyService;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

@@ -26,9 +32,12 @@

    @Value("${pythonCalcPath}")
    private String pythonCalcPath;

    @Value("${pythonCalcSimilarity}")
    private String pythonCalcSimilarity;
    @Autowired
    private LiftDispatcher liftDispatcher;
    @Autowired
    private ShuttleStandbyService shuttleStandbyService;

    public List<NavigateNode> calcWhiteList(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) {
        //通过开始编号和结束编号获取对应的xy轴坐标
@@ -418,6 +427,31 @@
        return 0D;
    }

    //检测库位路径是否可用(用于库位是否可移动检测)
    public boolean checkLocPathIsAvailable(String startLocNo, Long hostId) {
        //获取距离目标位置最近的可换层提升机(可能不空闲)
        LiftThread liftThread = liftDispatcher.searchLift(startLocNo, hostId, true);
        if (liftThread == null) {
            return false;
        }
        Device transferLiftDevice = liftThread.getDevice();

        ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                .eq(ShuttleStandby::getDeviceLev, Utils.getLev(startLocNo))
                .eq(ShuttleStandby::getStatus, 1));

        //提升机库位号
        String liftLocNo = shuttleStandbyTo.getDeviceLoc();

        //计算库位到提升机库位，路径是否可用
        List<NavigateNode> nodeList = this.calc(startLocNo, liftLocNo, NavigationMapType.DFX.id, null);
        if (nodeList == null) {
            return false;
        }
        return true;
    }

    public static void main(String[] args) {
//        //计算路径
//        List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null);