#小车地图严格模式

Junjie

2024-06-13 11da5829433e788d8f901ee5cd910d5923f0806a

#小车地图严格模式

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java

@@ -24,6 +24,8 @@
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
@@ -50,6 +52,8 @@
    private DeviceService deviceService;
    @Autowired
    private LocService locService;
    @Autowired
    private DictService dictService;

    //生成入库任务
    @PostMapping("/createInTask")
@@ -67,7 +71,14 @@
            return R.error("库位号不存在");
        }

        if (!loc.getLocStsFlag().equals("O")) {
        //获取严格模式参数
        boolean mapStrict = true;//默认严格模式
        Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
        if (dict != null) {
            mapStrict = Boolean.parseBoolean(dict.getValue());
        }

        if (mapStrict && !loc.getLocStsFlag().equals("O")) {
            return R.error("库位状态不满足入库条件");
        }

@@ -118,7 +129,14 @@
            return R.error("库位号不存在");
        }

        if (!loc.getLocStsFlag().equals("F")) {
        //获取严格模式参数
        boolean mapStrict = true;//默认严格模式
        Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
        if (dict != null) {
            mapStrict = Boolean.parseBoolean(dict.getValue());
        }

        if (mapStrict && !loc.getLocStsFlag().equals("F")) {
            return R.error("库位状态不满足出库条件");
        }


 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapData.java

@@ -46,49 +46,7 @@
    }

    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) {
        try {
            String mapFilename = "map_" + lev + ".json";

            String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//获取文件路径
            File file = new File(fileName);
            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 null;
        return getDataFromRedis(NavigationMapType.NONE.id, null, null);//默认读取无过滤的全部地图数据
    }

    /**
@@ -310,54 +268,63 @@
            lists.add(list);
        }

        //过滤数据
        //获取当前楼层库位数据
        List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
                .eq(Loc::getLev, lev)
                .orderByAsc(Loc::getRow, Loc::getBay));
        for (Loc loc : locs) {
            Integer row = loc.getRow();
            Integer bay = loc.getBay();
        //获取严格模式参数
        boolean mapStrict = true;//默认严格模式
        Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
        if (dict != null) {
            mapStrict = Boolean.parseBoolean(dict.getValue());
        }

            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 (mapStrict) {//严格模式下，载入库位状态
            //过滤数据
            //获取当前楼层库位数据
            List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLev, lev)
                    .orderByAsc(Loc::getRow, Loc::getBay));
            for (Loc loc : locs) {
                Integer row = loc.getRow();
                Integer bay = loc.getBay();

                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 (loc.getLocSts$().equals("F")
                        || loc.getLocSts$().equals("D")
                        || loc.getLocSts$().equals("X")
                ) {
                    mapNode.setValue(-1);//禁用节点
                if (whiteFlag) {
                    continue;//存在白名单，不执行下列过滤方案
                }
            } else if (mapType == NavigationMapType.NORMAL.id) {
                //过滤库位状态X
                if (loc.getLocSts$().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 (loc.getLocSts$().equals("F")
                            || loc.getLocSts$().equals("D")
                            || loc.getLocSts$().equals("X")
                    ) {
                        mapNode.setValue(-1);//禁用节点
                    }
                } else if (mapType == NavigationMapType.NORMAL.id) {
                    //过滤库位状态X
                    if (loc.getLocSts$().equals("X")) {
                        mapNode.setValue(-1);//禁用节点
                    }
                }

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

        //加载车辆坐标到地图中

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java

@@ -2,6 +2,7 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
@@ -34,7 +35,7 @@
        mapData.setLev(lev);
        int[][] data = mapData.getDataFromRedis(mapType, whitePoints, shuttlePoints);
        if (data == null) {
            data = mapData.getData(mapType, whitePoints, shuttlePoints);
            throw new CoolException("地图未载入！");
        }
        this.map = data;
    }