#

Junjie

昨天 c4b6b51afdd3374735ed5f358457987eaa6e476f

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

@@ -3,9 +3,7 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
@@ -15,6 +13,7 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.MapNodeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.ShuttleRunDirection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.command.ShuttleAssignCommand;
@@ -36,11 +35,7 @@
public class ShuttleOperaUtils {

    @Autowired
    private BasShuttleService basShuttleService;
    @Autowired
    private NavigateUtils navigateUtils;
    @Autowired
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private NavigateMapData navigateMapData;
    @Autowired
@@ -49,6 +44,8 @@
    private ShuttleDispatchUtils shuttleDispatchUtils;
    @Autowired
    private DeviceConfigService deviceConfigService;
    @Autowired
    private RedisUtil redisUtil;

    public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
        return getStartToTargetCommands(startLocNo, endLocNo, mapTypes, null, assignCommand, shuttleThread, "move");
@@ -65,13 +62,24 @@
        }
        Integer shuttleNo = shuttleProtocol.getShuttleNo();
        //获取小车移动速度
        Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
        Integer runSpeed = 1000;
        Object speedObj = redisUtil.get(RedisKeyType.SHUTTLE_SPEED_MAP.key);
        if (speedObj != null) {
            HashMap<Integer, Integer> shuttleSpeedMap = (HashMap<Integer, Integer>) speedObj;
            Integer speed = shuttleSpeedMap.get(shuttleNo);
            if (speed != null) {
                runSpeed = speed;
            }
        }

        long calcStartTime = System.currentTimeMillis();
        List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
        if (nodeList == null) {
            News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            return null;
        }
        News.info("[RCS Debug] Calc path time:{}", (System.currentTimeMillis() - calcStartTime));

        List<NavigateNode> allNode = new ArrayList<>();
        List<NavigateNode> lockNode = new ArrayList<>();
@@ -99,48 +107,66 @@
        //获取分段路径
        List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
        long endTime = System.currentTimeMillis();
        News.info("getSection path time:{}", (endTime - startTime));
        News.info("[RCS Debug] getSection path time:{}", (endTime - startTime));

        long startGetSectionCommandTime = System.currentTimeMillis();
        //将每一段路径分成command指令
        for (int i = 0; i < data.size(); i++) {
            long startGetStartAndEndPathTime = System.currentTimeMillis();
            List<NavigateNode> nodes = data.get(i);

            //开始路径
            NavigateNode startPath = nodes.get(0);

            //目标路径
            NavigateNode endPath = nodes.get(nodes.size() - 1);
            News.info("[RCS Debug] getStartAndEndPath idx:{} time:{}", i, (System.currentTimeMillis() - startGetStartAndEndPathTime));

            long startAllDistanceTime = System.currentTimeMillis();
            Integer allDistance = navigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
            News.info("[RCS Debug] getAllDistance idx:{} time:{}", i, (System.currentTimeMillis() - startAllDistanceTime));

            long startGetPosition = System.currentTimeMillis();
            //通过xy坐标小车二维码
            String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            //通过xy坐标小车二维码
            String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            News.info("[RCS Debug] xyToPosition idx:{} time:{}", i, (System.currentTimeMillis() - startGetPosition));

            long startGetMoveCommandTime = System.currentTimeMillis();
            //获取移动命令
            ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
            News.info("[RCS Debug] getMoveCommand idx:{} time:{}", i, (System.currentTimeMillis() - startGetMoveCommandTime));

            if (i + 1 == data.size()) {
                long startGetInOutLiftTime = System.currentTimeMillis();
                if (moveType.equals("inLift")) {
                    command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, true);
                }else if (moveType.equals("outLift")) {
                    command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, false);
                }
                News.info("[RCS Debug] getInOutLiftTime idx:{} time:{}", i, (System.currentTimeMillis() - startGetInOutLiftTime));
            }

            command.setNodes(nodes);//将行走节点添加到每一步命令中
            commands.add(command);
        }
        News.info("[RCS Debug] getSectionCommand path time:{}", (System.currentTimeMillis() - startGetSectionCommandTime));

        assignCommand.setNodes(allNode);//当前任务所占用的节点list
        assignCommand.setMapTypes(mapTypes);

        //小车移动连续下发指令
        boolean shuttleMoveCommandsContinuously = false;
        Config shuttleMoveCommandsContinuouslyConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleMoveCommandsContinuously"));
        if (shuttleMoveCommandsContinuouslyConfig != null) {
            if (shuttleMoveCommandsContinuouslyConfig.getValue().equals("Y")) {
        Object object = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (object != null) {
            HashMap<String, String> systemConfigMap = (HashMap<String, String>) object;
            String shuttleMoveCommandsContinuouslyConfig = systemConfigMap.get("shuttleMoveCommandsContinuously");
            if (shuttleMoveCommandsContinuouslyConfig != null && shuttleMoveCommandsContinuouslyConfig.equals("Y")) {
                shuttleMoveCommandsContinuously = true;
            }
        }
        assignCommand.setShuttleMoveCommandsContinuously(shuttleMoveCommandsContinuously);

        News.info("{}任务，{}小车，{} - {} 路径命令包计算成功，耗时:{}ms", assignCommand.getTaskNo(), shuttleProtocol.getShuttleNo(), startLocNo, endLocNo, System.currentTimeMillis() - startTime);
        return commands;
    }

@@ -168,8 +194,11 @@
        return commands;
    }

    //检测障碍物车
    public synchronized boolean checkObstacle(String locNo, List<Integer> whiteShuttles, List<NavigateNode> whiteNodes) {
    /**
     * 检测障碍物车
     * @return 0:无障碍 1:有障碍调度成功 2:有障碍调度失败
     */
    public synchronized int checkObstacle(String locNo, List<Integer> whiteShuttles, List<NavigateNode> whiteNodes) {
        int innerCircle = 0;
        int outerCircle = 3;
        Config avoidInnerCircleConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "avoidInnerCircle"));
@@ -202,7 +231,7 @@
        List<NavigateNode> innerNodes = getInnerNodes(locNo, innerCircle, whiteShuttlePointList);
        List<Integer> nodesCar = findNodesCar(innerNodes);
        if (nodesCar.isEmpty()) {
            return false;//内圈中无车
            return 0;//内圈中无车
        }

        //获取外圈节点
@@ -239,10 +268,11 @@
            if (targetLocNo == null) {
                continue;
            }
            shuttleDispatchUtils.dispatchShuttle(null, targetLocNo, shuttleNo);
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(null, targetLocNo, shuttleNo);
            return dispatched ? 1 : 2;
        }

        return true;//内圈中有车
        return 2;//内圈中有车
    }

    private HashMap<String, Integer> findCarMap() {