#

Junjie

2025-01-14 c4281fca922cfdda53dec5dfe79890db7671d19d

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

@@ -1,24 +1,27 @@
package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasMap;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasShuttleService;
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.ShuttleTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.core.io.ClassPathResource;
import org.springframework.stereotype.Component;

import java.io.*;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;

/**
@@ -27,15 +30,8 @@
@Component
public class NavigateMapData {

//    private Integer lev;//地图楼层
//
//    public Integer getLev() {
//        return lev;
//    }
//
//    public void setLev(Integer lev) {
//        this.lev = lev;
//    }
    @Autowired
    private SlaveProperties slaveProperties;

    public int[][] getData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
@@ -276,53 +272,57 @@

        //过滤数据
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        //获取当前楼层库位数据
        List<LocMast> locMasts = locMastService.selectLocByLev(lev);
        for (LocMast locMast : locMasts) {
            Integer row = locMast.getRow1();
            Integer bay = locMast.getBay1();
        try {
            //获取当前楼层库位数据
            List<LocMast> locMasts = locMastService.selectLocByLev(lev);
            for (LocMast locMast : locMasts) {
                Integer row = locMast.getRow1();
                Integer bay = locMast.getBay1();

            boolean whiteFlag = false;//默认不存在白名单
            if (whitePoints != null) {
                for (int[] whitePoint : whitePoints) {
                    if (whitePoint[0] == row && whitePoint[1] == bay) {
                        //存在白名单
                        whiteFlag = true;
                        break;
                boolean whiteFlag = false;//默认不存在白名单
                if (whitePoints != null) {
                    for (int[] whitePoint : whitePoints) {
                        if (whitePoint[0] == row && whitePoint[1] == bay) {
                            //存在白名单
                            whiteFlag = true;
                            break;
                        }
                    }
                }
            }
            if (whiteFlag) {
                continue;//存在白名单，不执行下列过滤方案
            }


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

            if (mapType == NavigationMapType.NONE.id) {
                //不过滤任何数据
            } else if (mapType == NavigationMapType.DFX.id) {
                //车辆有货
                //读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
                if (locMast.getLocSts().equals("F")
                        || locMast.getLocSts().equals("D")
                        || locMast.getLocSts().equals("X")
                        || locMast.getLocSts().equals("R")
                        || locMast.getLocSts().equals("P")
                ) {
                    mapNode.setValue(-1);//禁用节点
                if (whiteFlag) {
                    continue;//存在白名单，不执行下列过滤方案
                }
            } else if (mapType == NavigationMapType.NORMAL.id) {
                //过滤库位状态X
                if (locMast.getLocSts().equals("X")) {
                    mapNode.setValue(-1);//禁用节点
                }
            }

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

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

                if (mapType == NavigationMapType.NONE.id) {
                    //不过滤任何数据
                } else if (mapType == NavigationMapType.DFX.id) {
                    //车辆有货
                    //读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
                    if (locMast.getLocSts().equals("F")
                            || locMast.getLocSts().equals("D")
                            || locMast.getLocSts().equals("X")
                            || locMast.getLocSts().equals("R")
                            || locMast.getLocSts().equals("P")
                    ) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                } else if (mapType == NavigationMapType.NORMAL.id) {
                    //过滤库位状态X
                    if (locMast.getLocSts().equals("X")) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                }

                //更新list
                list.set(bay, mapNode);
                lists.set(row, list);
            }
        }catch (Exception e) {
            e.printStackTrace();
        }

        //加载车辆坐标到地图中
@@ -332,7 +332,7 @@
                int y = points[1];
                List<MapNode> list = lists.get(x);
                MapNode mapNode = list.get(y);
                mapNode.setValue(66);//设置为车辆代码66
                mapNode.setValue(MapNodeType.CAR.id);//设置为车辆代码66
                //更新list
                list.set(y, mapNode);
                lists.set(x, list);
@@ -359,6 +359,42 @@
            }
        }

        try {
            //加载货叉提升机放货点位数据
            for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
                ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
                if (forkLiftThread == null) {
                    continue;
                }

                for (ForkLiftStaProtocol staProtocol : forkLiftThread.getForkLiftStaProtocols()) {
                    int row = Utils.getRow(staProtocol.getLocNo());
                    int bay = Utils.getBay(staProtocol.getLocNo());

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

                    if (mapType == NavigationMapType.DFX.id) {
                        //车辆有货
                        if (staProtocol.getHasTray() != null && staProtocol.getHasTray()) {
                            mapNode.setValue(MapNodeType.DISABLE.id);
                        }
                    }else {
                        if (staProtocol.getHasCar() != null && staProtocol.getHasCar()) {
                            mapNode.setValue(MapNodeType.CAR.id);
                        }
                    }

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

            }
        }catch (Exception e) {
            e.printStackTrace();
        }

        return lists;
    }