#

Junjie

2025-04-10 1d624dfdb040825ffecba6c792c480be662b2dbc

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -1,49 +1,28 @@
package com.zy.asrs.utils;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.core.Slave;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ShuttleRunDirection;
import com.zy.core.enums.ShuttleTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;

import java.text.DecimalFormat;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.List;
import java.util.*;

/**
 * Created by vincent on 2020/8/27
 */
public class Utils {

    public static final List<Integer> FIRST_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(1);add(2);add(3);add(4);
    }};
    public static final List<Integer> SECOND_GROUP_ROW_LIST = new ArrayList<Integer>() {{
        add(5);add(6);add(7);add(8);add(9);add(10);add(11);
    }};

    private static final DecimalFormat fmt = new DecimalFormat("##0.00");

@@ -66,168 +45,6 @@
            }
            return msgBuilder.toString();
        }
    }

    public static Integer getGroupRow(String locNo, Boolean pakin){
        int row = getRow(locNo);
        return getGroupRow(row, pakin);
    }

    public static List<String> getGroupLocNo(String locNo){
        int row = getRow(locNo);
        List<String> result = new ArrayList<>();
        if (FIRST_GROUP_ROW_LIST.contains(row)) {
            for (Integer groupRow : FIRST_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
            }
        } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
            for (Integer groupRow : SECOND_GROUP_ROW_LIST) {
                result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
            }
        }
        return result;
    }

    public static Integer getGroupRow(Integer row, Boolean pakin) {
        if (FIRST_GROUP_ROW_LIST.contains(row)) {
            return 4;
        } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
            return 5;
        } else {
            return 0;
        }
//        if (pakin) {
//            if (FIRST_GROUP_ROW_LIST.contains(row)) {
//                return 2;
//            } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
//                return 18;
//            } else {
//                return 0;
//            }
//        } else {
//            if (FIRST_GROUP_ROW_LIST.contains(row)) {
//                return 12;
//            } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
//                return 30;
//            } else {
//                return 0;
//            }
//        }
    }

    /**
     * 判断库位是否为穿梭库位
     * @param locNo
     * @return
     */
    public static Boolean isShuttle(String locNo) {
        int row = Utils.getRow(locNo);
        if (row >= 2 && row <= 12) {
            return Boolean.TRUE;
        }
        return Boolean.FALSE;
    }

    // -------------------------------------------------------------------------------------------------------------------



    /**
     * 判断是否为深库位
     */
    public static boolean isDeepLoc(SlaveProperties slaveProperties, String locNo){
        if (slaveProperties.isDoubleDeep()) {
            int row = getRow(locNo);
            return slaveProperties.getDoubleLocs().contains(row);
        } else {
            return false;
        }
    }

    /**
     * 判断是否为深库位
     */
    public static boolean isDeepLoc(SlaveProperties slaveProperties, Integer row){
        if (slaveProperties.isDoubleDeep()) {
            return slaveProperties.getDoubleLocs().contains(row);
        } else {
            return false;
        }
    }

    /**
     * 判断是否为浅库位
     */
    public static boolean isShallowLoc(SlaveProperties slaveProperties, String locNo){
        if (slaveProperties.isDoubleDeep()) {
            int row = getRow(locNo);
            return !slaveProperties.getDoubleLocs().contains(row);
        } else {
            return false;
        }
    }

    /**
     * 判断是否为浅库位
     */
    public static boolean isShallowLoc(SlaveProperties slaveProperties, Integer row){
        if (slaveProperties.isDoubleDeep()) {
            return !slaveProperties.getDoubleLocs().contains(row);
        } else {
            return false;
        }
    }

    /**
     * 获取 深库位对应的浅库位号
     */
    public static String getShallowLoc(SlaveProperties slaveProperties, String deepLoc) {
        int row = getRow(deepLoc);
        int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
        int shallowRow = remainder == 1 ? (row + 1) : (row - 1);
        return zerofill(String.valueOf(shallowRow), 2) + deepLoc.substring(2);
    }


    /**
     * 获取 深库位排对应的浅库位排
     */
    public static Integer getShallowRow(SlaveProperties slaveProperties, Integer deepRow) {
        int remainder = (int) Arith.remainder(deepRow, slaveProperties.getGroupCount());
        return remainder == 1 ? (deepRow + 1) : (deepRow - 1);
    }

    /**
     * 获取 浅库位对应的深库位号
     */
    public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
        int row = getRow(shallowLoc);
        int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
        int targetRow;
        if (remainder == 2) {
            targetRow = row - 1;
        } else if (remainder == 1) {
            targetRow = row + 1;
        } else {
            throw new RuntimeException(shallowLoc + "不是浅库位，系统繁忙");
        }
        return zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
    }

    /**
     * 获取 浅库位排对应的深库位排
     */
    public static Integer getDeepRow(SlaveProperties slaveProperties, Integer shallowRow) {
        int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
        int targetRow;
        if (remainder == 2) {
            targetRow = shallowRow - 1;
        } else if (remainder == 1) {
            targetRow = shallowRow + 1;
        } else {
            throw new RuntimeException(shallowRow + "不是浅库位排，系统繁忙");
        }
        return targetRow;
    }

    /**
@@ -260,154 +77,35 @@
        throw new RuntimeException("库位解析异常");
    }

    /**
     * 通过排列层拼接出库位号
     */
    public static String append(int row, int bay, int lev) {
        return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
    }


    /**
     * 当检索到双深库位的浅库位时，如果深库位无货，则放入对应的深库位
     */
    public static void toDeepIfEmptyByShallow(String shallowLoc) {
        int row = getRow(shallowLoc);
        int remainder = (int) Arith.remainder(row, 4);
        int targetRow = 0;
        if (remainder == 2) {
            targetRow = row - 1;
        } else if (remainder == 3) {
            targetRow = row + 1;
        } else {
            throw new RuntimeException(shallowLoc + "不是浅库位，系统繁忙");
        }
        String targetLoc = zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);

    }

    public static String getLocNo(Number row, Number bay, Number lev) {
        return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
    }

    //出入库站点号转换对应楼层
    public static Integer outInStaNoToLev(Integer distSta) {
        Integer distLev = 1;//目标楼层
        switch (distSta) {
            case 102:
                distLev = 2;//输送线楼层
            case 105:
                distLev = 1;//一楼
            case 106:
                distLev = 3;//二楼
            case 107:
                distLev = 4;//三楼
            case 108:
                distLev = 5;//四楼
        }
        return distLev;
    public static List<String> getGroupLoc(String locNo) {
        return null;
    }

    //楼层转换对应出入库站点号
    public static Integer levToOutInStaNo(Integer lev) {
        Integer staNo = null;//站点号
        switch (lev) {
            case 1:
                staNo = 105;
                break;
            case 2://输送线层
                staNo = 105;
                break;
            case 3:
                staNo = 106;
                break;
            case 4:
                staNo = 107;
                break;
            case 5:
                staNo = 108;
                break;
    //获取除白名单外的指定楼层全部穿梭车xy坐标点
    public static int[] getShuttlePoint(Integer shuttleNo) {
        //获取穿梭车所在节点位置
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return null;
        }
        return staNo;
    }
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return null;
        }

    //提升机位置反馈转换出入库站点库位号
    public static String liftArrivalToOutInStaLocNo(Short liftArrival) {
        String locNo = null;
        switch (liftArrival) {
            case 1:
                locNo = "1800201";
                break;
            case 4:
                locNo = "1800202";
                break;
            case 8:
                locNo = "1800203";
                break;
            case 16:
                locNo = "1800204";
                break;
        String currentLocNo = shuttleProtocol.getCurrentLocNo();
        if (currentLocNo == null) {
            return null;
        }
        return locNo;
    }

    //楼层转换对应出入库站点库位号
    public static String levToOutInStaLocNo(Integer lev) {
        String locNo = null;
        if (lev >= 2) {
            lev++;
        if (shuttleProtocol.getCurrentLocNo() == null) {
            return null;
        }
        switch (lev) {
            case 1:
                locNo = "1800201";
                break;
            case 3:
                locNo = "1800202";
                break;
            case 4:
                locNo = "1800203";
                break;
            case 5:
                locNo = "1800204";
                break;
        }
        return locNo;
    }

    public static void main(String[] args) {
        System.out.println(JSON.toJSONString(getGroupOutsideLoc("0200101")));
    }

    // 外侧方向的货位  优先入库方向/优先出库方向 ===>> 反之
    public static List<String> getGroupOutsideLoc(String locNo){
        int row = getRow(locNo);
        List<String> result = new ArrayList<>();
        if (SECOND_GROUP_ROW_LIST.contains(row)) {
            for (Integer integer : SECOND_GROUP_ROW_LIST) {
                if (integer < row) {
                    result.add(zerofill(String.valueOf(integer), 2) + locNo.substring(2));
                } else {
                    break;
                }
            }
        } else if (FIRST_GROUP_ROW_LIST.contains(row)) {
            List<Integer> clone = Arrays.asList(new Integer[FIRST_GROUP_ROW_LIST.size()]);
            Collections.copy(clone, FIRST_GROUP_ROW_LIST);
            Collections.reverse(clone);
            for (Integer integer : clone) {
                if (integer > row) {
                    result.add(zerofill(String.valueOf(integer), 2) + locNo.substring(2));
                } else {
                    break;
                }
            }
        } else {
//            throw new RuntimeException("库位解析异常");
        }
        if (!Cools.isEmpty(result)) {
            Collections.reverse(result);
        }
        return result;
        return NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());
    }

    //获取除白名单外的指定楼层全部穿梭车xy坐标点
@@ -424,182 +122,139 @@
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }

            if (shuttleProtocol.getLocNo() == null) {
            String currentLocNo = shuttleProtocol.getCurrentLocNo();
            if (currentLocNo == null) {
                continue;
            }

            if (lev != Utils.getLev(shuttleProtocol.getLocNo())) {
            if (lev != Utils.getLev(currentLocNo)) {
                continue;//楼层不同
            }

            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getLocNo());//通过库位号获取xy坐标
            if (shuttleProtocol.getCurrentLocNo() == null) {
                continue;
            }
            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
            list.add(xyPosition);
        }
        return list;
    }

    //检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
    public static boolean checkShuttlePath(List<NavigateNode> nodes, Integer shuttleId) {
          boolean flag = false;
        int shuttleX = -1;
        int shuttleY = -1;
        int shuttleZ = -1;
    //检测楼层是否有可用穿梭车
    public static boolean checkLevHasShuttle(Integer lev) {
        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }
            String currentLocNo = shuttleProtocol.getCurrentLocNo();
            if (currentLocNo == null) {
                continue;
            }

        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
            //小车正在充电
            if (shuttleThread.isCharging()) {
                continue;
            }

        if (nodes == null) {
            return false;
        }
        if (nodes.size() == 0) {
            return false;
        }
        NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());//获取地图数据
        int[][] data = mapData.getData(-1, null, Utils.getShuttlePoints(shuttleId, nodes.get(0).getZ()));
        for (NavigateNode node : nodes) {
            int x = node.getX();
            int y = node.getY();
            if (data[x][y] == 66) {//判断该路径是否有小车
                flag = true;//存在小车
                shuttleX = x;
                shuttleY = y;
                shuttleZ = node.getZ();
                break;
            //小车有充电任务
            WrkMast chargeWorking = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
            if (chargeWorking != null) {//已有充电任务
                continue;
            }

            //小车处于故障状态
            if (shuttleThread.isFault()) {
                continue;
            }

            if (lev == Utils.getLev(currentLocNo)) {
                return true;//指定楼层有穿梭车
            }
        }

        if (flag) {
            //检测到路径存在其他小车
            //搜索一条没有小车的空巷道
        return false;//指定楼层没有穿梭车
    }

            //获取小车坐标二维码
            Short shuttlePosition = NavigatePositionConvert.xyToPosition(shuttleX, shuttleY, shuttleZ);
            LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttlePosition));
    //检测库位组是否存在小车，存在返回小车号。
    public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
        if (groupLoc == null) {
            return null;
        }

            //获取小车线程
            SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
            ShuttleThread currentShuttleThread = null;
        if (groupLoc.isEmpty()) {
            return null;
        }

        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        if (slaveProperties == null) {
            return null;
        }

        for (String loc : groupLoc) {
            for (ShuttleSlave slave : slaveProperties.getShuttle()) {
                //获取穿梭车所在节点位置
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
                if (shuttleThread == null) {
                    continue;
                }
                ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();

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

                if (shuttleProtocol.getCurrentCode().intValue() == Integer.parseInt(shuttleLocMast.getQrCodeValue())) {
                    //小车坐标和线程获取的小车坐标一致
                    currentShuttleThread = shuttleThread;
                    break;
                if (shuttleProtocol.getCurrentLocNo() == null) {
                    continue;
                }

                if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
                    //存在小车
                    return slave.getId();
                }
            }

            if (currentShuttleThread == null) {
                //没找到小车
                return false;
            }

            //搜索一条没有小车的空巷道，并调度小车
            ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(shuttleZ, shuttleId, currentShuttleThread, null);//shuttleId搜索时需要排除的车辆id，currentShuttleThread是需要被调度的车辆线程

            if (assignCommand == null) {
                return false;
            }

            //下发任务
            MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));

            return false;
        }

        return true;
    }

    //搜索一条没有小车的空巷道，并返回移动小车的命令
    public static ShuttleAssignCommand searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, ShuttleThread shuttleThread, String startLocNo) {
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        MainServiceImpl mainServiceImpl = SpringUtils.getBean(MainServiceImpl.class);
        CommonService commonService = SpringUtils.getBean(CommonService.class);

        if (shuttleThread == null) {
            return null;
        }
        ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            return null;
        }

        NavigateMapData mapData = new NavigateMapData(z);//获取地图数据
        int[][] data = mapData.getData(-1, null, currentShuttleId == null ? null : Utils.getShuttlePoints(0, z));//载入全部车辆

        int distY = -1;
        int distX = -1;
        int distZ = -1;
        for (int y = 3; y <= 25; y++) {
            boolean searchFlag = true;
            for (int x = 20; x <= 23; x++) {
                if (data[x][y] < 0 || data[x][y] == 66) {
                    searchFlag = false;//该巷道有禁用节点或有小车
                    break;
                }
            }

            if (searchFlag) {
                //搜索出空巷道
                distY = y;
                distX = 20;
                distZ = z;
                break;
            }
        }

        if (distY != -1) {

            //获取避让坐标二维码
            Short distPosition = NavigatePositionConvert.xyToPosition(distX, distY, distZ);
            LocMast distLocMast = locMastService.queryByQrCode(String.valueOf(distPosition));
            if (distLocMast == null) {
                return null;
            }

            if (startLocNo == null) {
                //获取小车坐标二维码
                LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttleProtocol.getCurrentCode()));
                if (shuttleLocMast == null) {
                    return null;
                }
                startLocNo = shuttleLocMast.getLocNo();
            }

            //创建分配命令
            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
            assignCommand.setTaskNo((short) commonService.getWorkNo(7));//任务号
            assignCommand.setTaskMode(ShuttleTaskModeType.AVOID.id.shortValue());//避让任务
            assignCommand.setSourceLocNo(startLocNo);//源库位

            //分配目标库位
            shuttleProtocol.setLocNo(distLocMast.getLocNo());
            //目标库位
            assignCommand.setLocNo(distLocMast.getLocNo());

            //小车移动到目标位置
            List<ShuttleCommand> commands = mainServiceImpl.shuttleAssignCommand(startLocNo, distLocMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            if (commands == null) {
                return null;
            }

            assignCommand.setCommands(commands);
            return assignCommand;
        }
        return null;
    }

    //获取小车待机位
    public static String getShuttleStandbyLocNo(String locNo) {
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
        List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
                .eq("loc_type", "standby")
                .eq("lev1", Utils.getLev(locNo)));
        if (locMasts.isEmpty()) {
            return null;
        }

        Integer recentDistance = Integer.MAX_VALUE;
        String recentLocNo = null;
        for (LocMast locMast : locMasts) {
            //待机位到目标点距离
            List<NavigateNode> currentShuttlePath = navigateUtils.calc(locNo, locMast.getLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(0, Utils.getLev(locNo)), null);//搜索空闲穿梭车，使用正常通道地图
            if (currentShuttlePath == null) {
                continue;
            }
            Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            if (currentAllDistance < recentDistance) {
                recentDistance = currentAllDistance;
                recentLocNo = locMast.getLocNo();
            }
        }

        return recentLocNo;
    }
}