1

zhang

2025-08-29 c6ac196d7207e64b8591f84932439214561fc446

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

@@ -1,22 +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.BasMapService;
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 org.springframework.core.io.ClassPathResource;
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.stereotype.Component;

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

/**
@@ -25,64 +30,35 @@
@Component
public class NavigateMapData {

    private Integer lev;//地图楼层
    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private BasMapService basMapService;

    public NavigateMapData() {
        this.lev = 1;
    }

    public NavigateMapData(Integer lev) {
        this.lev = lev;
    }

    public int[][] getData() {
        return getData(NavigationMapType.NONE.id, null, null);//默认读取无过滤的全部地图数据
    }

    public int[][] getData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
    public int[][] getData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            String mapFilename = "map_" + lev + ".json";
            ClassPathResource classPathResource = new ClassPathResource(mapFilename);
            InputStream inputStream = classPathResource.getInputStream();
            byte[] buffer = new byte[inputStream.available()];
            inputStream.read(buffer);
            File file = File.createTempFile("prefix","suffix");
            try (OutputStream outStream = new FileOutputStream(file)) {
                outStream.write(buffer);
            BasMap basMap = basMapService.selectLatestMap(lev);
            String originData = basMap.getOriginData();

            //解析json地图数据
            ArrayList arrayList = JSON.parseObject(originData, ArrayList.class);
            List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
            int[][] map = new int[lists.size()][];
            int j = 0;
            for (List<MapNode> list : lists) {
                int[] tmp = new int[list.size()];
                int i = 0;
                for (MapNode mapNode : list) {
                    //将数据添加进二维数组
                    tmp[i++] = mapNode.getValue();
                }
                //数据添加进一维数组
                map[j++] = tmp;
            }

            StringBuffer stringBuffer = new StringBuffer();
            if (file.isFile() && file.exists()) {
                InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
                BufferedReader br = new BufferedReader(isr);
                String lineTxt = null;
                while ((lineTxt = br.readLine()) != null) {
                    stringBuffer.append(lineTxt);
                }
                br.close();

                //解析json地图数据
                ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
                List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
                int[][] map = new int[lists.size()][];
                int j = 0;
                for (List<MapNode> list : lists) {
                    int[] tmp = new int[list.size()];
                    int i = 0;
                    for (MapNode mapNode : list) {
                        //将数据添加进二维数组
                        tmp[i++] = mapNode.getValue();
                    }
                    //数据添加进一维数组
                    map[j++] = tmp;
                }

                return map;
            } else {
                System.out.println("文件不存在!");
            }
        } catch (IOException ioException) {
            ioException.printStackTrace();
            return map;
        } catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }
@@ -90,7 +66,7 @@
    /**
     * 尝试从redis获取数据
     */
    public int[][] getDataFromRedis(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
    public int[][] getDataFromRedis(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
        Object o = redisUtil.get(RedisKeyType.MAP.key + lev);
        if (o == null) {
@@ -98,13 +74,13 @@
        }

        BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
        return this.getDataFormString(basMap.getData(), mapType, whitePoints, shuttlePoints);
        return this.getDataFormString(lev, basMap.getData(), mapType, whitePoints, shuttlePoints);
    }

    /**
     * 从List数据中获取地图
     */
    public int[][] getDataFormString(String data, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
    public int[][] getDataFormString(Integer lev, String data, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
        List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
        int[][] map = new int[lists.size()][];
@@ -124,75 +100,17 @@
    }

    //获取JSON格式数据
    public List<List<MapNode>> getJsonData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            String mapFilename = "map_" + lev + ".json";
            ClassPathResource classPathResource = new ClassPathResource(mapFilename);
            InputStream inputStream = classPathResource.getInputStream();
            byte[] buffer = new byte[inputStream.available()];
            inputStream.read(buffer);
            File file = File.createTempFile("prefix","suffix");
            try (OutputStream outStream = new FileOutputStream(file)) {
                outStream.write(buffer);
            }

            StringBuffer stringBuffer = new StringBuffer();
            if (file.isFile() && file.exists()) {
                InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
                BufferedReader br = new BufferedReader(isr);
                String lineTxt = null;
                while ((lineTxt = br.readLine()) != null) {
                    stringBuffer.append(lineTxt);
                }
                br.close();

                //解析json地图数据
                ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
                List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据

                return lists;
            } else {
                System.out.println("文件不存在!");
            }
        } catch (IOException ioException) {
            ioException.printStackTrace();
        }
        return null;
    }

    //获取JSON格式数据
    public List<List<MapNode>> getJsonData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        try {
            String mapFilename = "map_" + lev + ".json";
            ClassPathResource classPathResource = new ClassPathResource(mapFilename);
            InputStream inputStream = classPathResource.getInputStream();
            byte[] buffer = new byte[inputStream.available()];
            inputStream.read(buffer);
            File file = File.createTempFile("prefix","suffix");
            try (OutputStream outStream = new FileOutputStream(file)) {
                outStream.write(buffer);
            }

            StringBuffer stringBuffer = new StringBuffer();
            if (file.isFile() && file.exists()) {
                InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
                BufferedReader br = new BufferedReader(isr);
                String lineTxt = null;
                while ((lineTxt = br.readLine()) != null) {
                    stringBuffer.append(lineTxt);
                }
                br.close();

                //解析json地图数据
                ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
                List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据

                return lists;
            } else {
                System.out.println("文件不存在!");
            }
        } catch (IOException ioException) {
            ioException.printStackTrace();
            BasMap basMap = basMapService.selectLatestMap(lev);
            String originData = basMap.getOriginData();
            //解析json地图数据
            ArrayList arrayList = JSON.parseObject(originData, ArrayList.class);
            //重建数据格式
            List<List<MapNode>> lists = rebuildData(arrayList);
            return lists;
        } catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }
@@ -205,6 +123,26 @@
     * @param shuttlePoints 穿梭车节点，需要加载进地图
     */
    public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
        //重建数据格式
        List<List<MapNode>> lists = rebuildData(arrayList);

        //载入库位信息
        lists = loadLocMast(mapType, lists, lev, whitePoints);

        //加载车辆
        lists = loadShuttle(lists, shuttlePoints);

//        //加载货叉提升机点位
//        lists = loadForkLift(lists, mapType, lev);

        //加载白名单节点
        lists = loadWhite(lists, lev, whitePoints);

        return lists;
    }

    //重建数据格式
    public List<List<MapNode>> rebuildData(List arrayList) {
        List<List<MapNode>> lists = new ArrayList<>();

        //重建数据格式
@@ -218,57 +156,71 @@
            lists.add(list);
        }

        return lists;
    }

    //载入库位信息
    public List<List<MapNode>> loadLocMast(Integer mapType, List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
        //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();
        }

        return lists;
    }

    //加载车辆
    public List<List<MapNode>> loadShuttle(List<List<MapNode>> lists, List<int[]> shuttlePoints) {
        //加载车辆坐标到地图中
        if (shuttlePoints != null) {
            for (int[] points : shuttlePoints) {
@@ -276,13 +228,18 @@
                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);
            }
        }

        return lists;
    }

    //加载白名单节点
    public List<List<MapNode>> loadWhite(List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
        //加载白名单节点
        if (whitePoints != null) {
            List<List<MapNode>> realMap = getJsonData(lev, -1, null, null);//获取完整地图
@@ -302,7 +259,49 @@
                lists.set(x, list);
            }
        }
        return lists;
    }

    //加载货叉提升机点位
    public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer mapType, Integer lev) {
        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()) {
                    if (staProtocol.getLev() != lev) {
                        continue;
                    }
                    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;
    }