#

Junjie

2024-05-05 dad3cd8ed8afa86b651bb1a053421e7aa2b8c7ac

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java

@@ -6,6 +6,7 @@
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;
@@ -20,13 +21,11 @@
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;
@@ -55,8 +54,6 @@
    private MotionService motionService;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;
    @Autowired
    private LocCtgService locCtgService;
    @Autowired
@@ -117,7 +114,7 @@
                    ArrayList<MapNode> nodes = new ArrayList<>();
                    for (JSONObject object : entry.getValue()) {
                        MapNode mapNode = new MapNode();
                        mapNode.setValue(object.getInteger("value"));
                        mapNode.setValue(object.getInteger("shelfType"));
                        mapNode.setTop(object.getInteger("top"));
                        mapNode.setBottom(object.getInteger("bottom"));
                        mapNode.setLeft(object.getInteger("left"));
@@ -125,6 +122,8 @@
                        mapNode.setRow(object.getInteger("row"));
                        mapNode.setBay(object.getInteger("bay"));
                        mapNode.setNo(object.getString("row") + "-" + object.getString("bay"));
                        mapNode.setXBase(object.getInteger("refx"));
                        mapNode.setYBase(object.getInteger("refy"));
                        nodes.add(mapNode);
                    }

@@ -144,13 +143,47 @@
            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");
                mapNode.setXBase(0);
                mapNode.setYBase(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();
                HashMap<String, Object> map = new HashMap<>();
                map.put("data", JSON.toJSONString(lists));
                map.put("create_time", now);
                map.put("update_time", now);
                map.put("lev", lev);
                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));
@@ -259,15 +292,8 @@
            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
@@ -282,6 +308,10 @@
            }

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

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

@@ -406,15 +436,8 @@
            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
@@ -423,6 +446,11 @@
                continue;
            }

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

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