#

Junjie

3 天以前 877b2519157cea762b1e63e9c57c09614216d684

 src/main/java/com/zy/common/utils/NavigateMapData.java

@@ -3,6 +3,8 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.BasMap;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
@@ -11,16 +13,24 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.MapNodeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.ShuttleCommandModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.TrafficControlDataModel;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.thread.TrafficControlThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@@ -38,6 +48,8 @@
    private DeviceConfigService deviceConfigService;
    @Autowired
    private BasMapService basMapService;
    @Autowired
    private ObjectMapper objectMapper;

    public int[][] getData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
@@ -188,6 +200,11 @@
            if(mapType.equals(NavigationMapType.PATH_LOCK)) {
                //加载路径锁
                lists = loadPathLock(lists, lev);
            }

            if(mapType.equals(NavigationMapType.TRAFFIC_CONTROL)) {
                //加载交通管制
                lists = loadTrafficControl(lists, lev);
            }
        }

@@ -396,4 +413,112 @@
        return lists;
    }

    //加载交通管制
    public List<List<MapNode>> loadTrafficControl(List<List<MapNode>> lists, Integer lev) {
        try {
            TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
            if (trafficControlThread == null) {
                throw new CoolException("init traffic control thread error");
            }

            List<TrafficControlDataModel> trafficList = trafficControlThread.getAllTrafficControl();
            for (TrafficControlDataModel trafficControlDataModel : trafficList) {
                List<NavigateNode> totalNodeList = trafficControlDataModel.getTotalNodeList();
                NavigateNode startNode = totalNodeList.get(0);
                if (startNode.getZ() != lev) {
                    continue;
                }

                for (NavigateNode node : totalNodeList) {
                    int row = node.getX();
                    int bay = node.getY();

                    List<MapNode> list = lists.get(row);
                    MapNode mapNode = list.get(bay);

                    //节点设置成Disable
                    mapNode.setValue(MapNodeType.DISABLE.id);

                    //更新list
                    list.set(bay, mapNode);
                    lists.set(row, list);
                }
            }

//            HashMap<String, Integer> deviceMap = trafficControlThread.getDeviceMap();
//            if(deviceMap == null) {
//                throw new CoolException("get traffic control device map error");
//            }
//
//            for (Map.Entry<String, Integer> entry : deviceMap.entrySet()) {
//                String key = entry.getKey();
//                Integer shuttleNo = entry.getValue();
//                if (shuttleNo <= 0) {
//                    continue;
//                }
//
//                Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + shuttleNo);
//                if (object == null) {
//                    continue;
//                }
//
//                int taskNo = Integer.parseInt(String.valueOf(object));
//
//                Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
//                if (obj == null) {
//                    continue;
//                }
//
//                ShuttleRedisCommand redisCommand = null;
//                try {
//                    redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
//                } catch (IOException e) {
//                    throw new RuntimeException(e);
//                }
//
//                if (redisCommand == null) {
//                    continue;
//                }
//
//                ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
//                List<ShuttleCommand> commands = assignCommand.getCommands();
//
//                List<NavigateNode> controlLocList = new ArrayList<>();
//                for (ShuttleCommand command : commands) {
//                    if (command.getComplete()) {
//                        continue;
//                    }
//
//                    if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
//                        List<NavigateNode> nodes = command.getNodes();
//                        for (NavigateNode node : nodes) {
//                            if(!controlLocList.contains(node)) {
//                                controlLocList.add(node);
//                            }
//                        }
//                    }
//                }
//
//                for (NavigateNode node : controlLocList) {
//                    int row = node.getX();
//                    int bay = node.getY();
//
//                    List<MapNode> list = lists.get(row);
//                    MapNode mapNode = list.get(bay);
//
//                    //节点设置成Disable
//                    mapNode.setValue(MapNodeType.DISABLE.id);
//
//                    //更新list
//                    list.set(bay, mapNode);
//                    lists.set(row, list);
//                }
//
//            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return lists;
    }

}