#

Junjie

2025-04-15 d56b8093dc9e3e75f8efe1a0f1aa6d821c9c3dfb

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

@@ -8,6 +8,7 @@
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.MapNodeType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import org.springframework.beans.factory.annotation.Autowired;
@@ -52,15 +53,28 @@
            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

            //检测节点是否为当前设备
            for (NavigateNode node : nodes) {
                List<MapNode> listX = listsHasShuttle.get(node.getX());
                MapNode mapNode = listX.get(node.getY());
                if (mapNode.getLockDeviceNo() == null) {
                    continue;
                }

                if (!mapNode.getLockDeviceNo().equals(shuttleNo)) {
                    return false;//路径所属权不是当前设备
                }
            }

            //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) {
                    if (mapNode.getValue().equals(MapNodeType.LOCK.id)) {
                        return false;//路径被锁定过，禁止再次锁定
                    }
                    if (mapNode.getValue() == 66) {
                    if (mapNode.getValue().equals(MapNodeType.CAR.id)) {
                        return false;//路径存在小车，禁止锁定
                    }
                }
@@ -77,12 +91,14 @@
                List<MapNode> listX = lists.get(node.getX());
                MapNode mapNode = listX.get(node.getY());
                if (lock) {
                    mapNode.setValue(-999);//禁用库位
                    mapNode.setValue(MapNodeType.LOCK.id);//禁用库位
                    mapNode.setLockDeviceNo(shuttleNo);
                } 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
                    mapNode.setLockDeviceNo(null);
                }

                listX.set(node.getY(), mapNode);
@@ -107,12 +123,22 @@
        Object o = redisUtil.get(DeviceRedisConstant.LOCK_PATH + lev);
        List<NavigateNode> navigateNodes = new ArrayList<>();
        if (o != null) {
            navigateNodes = JSON.parseArray(o.toString(), NavigateNode.class);
            try {
                navigateNodes = objectMapper.readValue(o.toString(), new TypeReference<List<NavigateNode>>() {});
            } catch (JsonProcessingException e) {
                throw new RuntimeException(e);
            }
        }

        String nodeStr = null;
        if (lock) {
            navigateNodes.addAll(nodes);
            redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, JSON.toJSONString(navigateNodes, SerializerFeature.DisableCircularReferenceDetect));
            try {
                nodeStr = objectMapper.writeValueAsString(navigateNodes);
            } catch (JsonProcessingException e) {
                throw new RuntimeException(e);
            }
            redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, nodeStr);
        }else {
            List<NavigateNode> tmp = new ArrayList<>();
            for (NavigateNode navigateNode : navigateNodes) {
@@ -131,7 +157,12 @@
                }
            }

            redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, JSON.toJSONString(tmp, SerializerFeature.DisableCircularReferenceDetect));
            try {
                nodeStr = objectMapper.writeValueAsString(tmp);
            } catch (JsonProcessingException e) {
                throw new RuntimeException(e);
            }
            redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, nodeStr);
        }
    }

@@ -146,7 +177,6 @@
                throw new RuntimeException(e);
            }
        }

        return navigateNodes;
    }