redis实时地图

Junjie

2023-05-10 baed29d667be08051c36c31997117a1ba292d5bc

 src/main/java/com/zy/core/thread/ShuttleThread.java

@@ -16,11 +16,9 @@
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
@@ -394,9 +392,11 @@
    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
        if (!assignCommand.getAuto()) {
            List<NavigateNode> allNode = new ArrayList<>();
            List<ShuttleCommand> commands = new ArrayList<>();
            ShuttleCommand command = new ShuttleCommand();
            LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
            NavigateMapData navigateMapData;
            switch (assignCommand.getTaskMode()) {
                case 1://入库
                case 2://出库
@@ -404,7 +404,12 @@
                    //计算小车起点到中点所需命令
                    LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                    List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    //所使用的路径进行锁定禁用
                    navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
                    navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用

                    if (firstMastResult != null) {
                        allNode.addAll(firstMastResult);//将节点进行保存
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(firstMastResult);
                        //将每一段路径分成command指令
@@ -466,7 +471,10 @@

                    //计算中点到终点路径
                    List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用

                    if (secMastResult != null) {
                        allNode.addAll(secMastResult);//将节点进行保存
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(secMastResult);
                        //将每一段路径分成command指令
@@ -590,7 +598,12 @@
                case 14://移动到目标库位
                    LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    //所使用的路径进行锁定禁用
                    navigateMapData = new NavigateMapData(Utils.getLev(locMast.getLocNo()));
                    navigateMapData.writeNavigateNodeToRedisMap(result, true);////所使用的路径进行锁定禁用

                    if (result != null) {
                        allNode.addAll(result);//将节点进行保存
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
                        //将每一段路径分成command指令
@@ -626,6 +639,7 @@
                default:
            }
            assignCommand.setCommands(commands);
            assignCommand.setNodes(allNode);//当前任务所占用的节点list
        }

        ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
@@ -799,6 +813,11 @@
                    }
                }

                String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();
                //解除锁定的库位路径
                NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(locNo));
                navigateMapData.writeNavigateNodeToRedisMap(redisCommand.getAssignCommand().getNodes(), false);

                //删除redis
                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());