zy-wcs.git - Gitblit

parent: 7abe872c | 补丁 | 提交 | ignore whitespace

Junjie

2023-10-24 925b834a3341dbe9f486964a7ad5d1affd7a404d

1个文件已添加

6个文件已修改

	src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java	8 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	src/main/java/com/zy/asrs/utils/Utils.java	41 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	src/main/java/com/zy/common/utils/NavigateMapData.java	53 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	src/main/java/com/zy/common/utils/NavigateMapUtils.java	73 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	src/main/java/com/zy/common/utils/ShuttleDispatchUtils.java	8 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java	6 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史
	src/main/java/com/zy/core/thread/NyShuttleThread.java	7 ●●●●● 补丁 \| 查看 \| 原始文档 \| blame \| 历史

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -108,6 +108,8 @@
    private BasLiftOptService basLiftOptService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private NavigateMapUtils navigateMapUtils;


    /**
@@ -2701,9 +2703,8 @@
            if (!checkPathIsAvailable) {
                return false;//检测目标站点路径是否未被占用
            }
            NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(wrkMast.getLocNo()));
            //尝试锁定目标站路径
            boolean result2 = navigateMapData.writeNavigateNodeToRedisMap(targetNodes, true);//所使用的路径进行锁定禁用
            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, true);//所使用的路径进行锁定禁用
            if (!result2) {
                return false;//路径锁定失败
            }
@@ -3078,13 +3079,12 @@
            }

            //*************尝试解锁目标站路径***************
            NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(wrkMast.getLocNo()));
            List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
            if (targetNodes == null) {
                return false;//未获取到节点
            }
            //尝试解锁目标站路径
            boolean result = navigateMapData.writeNavigateNodeToRedisMap(targetNodes, false);//所使用的路径进行解锁
            boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//所使用的路径进行解锁
            if (!result) {
                return false;//路径解锁失败
            }

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -506,4 +506,45 @@
        return false;//指定楼层没有穿梭车
    }

    //检测库位组是否存在小车，存在返回小车号。
    public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
        if (groupLoc == null) {
            return null;
        }

        if (groupLoc.isEmpty()) {
            return null;
        }

        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        if (slaveProperties == null) {
            return null;
        }

        for (String loc : groupLoc) {
            for (ShuttleSlave slave : slaveProperties.getShuttle()) {
                NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
                if (shuttleThread == null) {
                    continue;
                }

                NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    continue;
                }

                if (shuttleProtocol.getCurrentLocNo() == null) {
                    continue;
                }

                if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
                    //存在小车
                    return slave.getId();
                }
            }
        }

        return null;
    }

}

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

@@ -235,57 +235,4 @@
        return lists;
    }

    /**
     * 写入路径节点数据到redis地图中
     * lock为true 禁用库位，lock为false恢复库位
     */
    public synchronized boolean writeNavigateNodeToRedisMap(List<NavigateNode> nodes, boolean lock) {
        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
        try {
            if (!redisUtil.tryLock("realtimeBasMap_" + lev)) {
                return false;//加锁失败
            }

            Object o = redisUtil.get("realtimeBasMap_" + lev);
            if (o == null) {
                return false;
            }

            BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
            ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
            List<List<MapNode>> lists = filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//获取全部地图数据

            NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());
            List<List<MapNode>> realMap = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)
            for (NavigateNode node : nodes) {
                if (node.getZ() != lev) {
                    continue;
                }

                List<MapNode> listX = lists.get(node.getX());
                MapNode mapNode = listX.get(node.getY());
                if (lock) {
                    mapNode.setValue(-999);//禁用库位
                } else {
                    //获取原始节点数据
                    List<MapNode> rows = realMap.get(node.getX());
                    MapNode col = rows.get(node.getY());
                    mapNode.setValue(col.getValue());//恢复库位
                }

                listX.set(node.getY(), mapNode);
                lists.set(node.getX(), listX);
            }
            basMap.setData(JSON.toJSONString(lists));
            basMap.setUpdateTime(new Date());
            //将数据库地图数据存入redis
            redisUtil.set("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
            //解锁
            redisUtil.unlock("realtimeBasMap_" + lev);
        } catch (Exception e) {
            e.printStackTrace();
        }
        return true;
    }

}

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

New file
@@ -0,0 +1,73 @@
package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasMap;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import org.springframework.stereotype.Component;

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

@Component
public class NavigateMapUtils {

    /**
     * 写入路径节点数据到redis地图中
     * lock为true 禁用库位，lock为false恢复库位
     */
    public synchronized boolean writeNavigateNodeToRedisMap(Integer lev, List<NavigateNode> nodes, boolean lock) {
        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
        try {
            NavigateMapData navigateMapData = new NavigateMapData(lev);

            if (!redisUtil.tryLock("realtimeBasMap_" + lev)) {
                return false;//加锁失败
            }

            Object o = redisUtil.get("realtimeBasMap_" + lev);
            if (o == null) {
                return false;
            }

            BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
            ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
            List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//获取全部地图数据

            NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());
            List<List<MapNode>> realMap = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)
            for (NavigateNode node : nodes) {
                if (node.getZ() != lev) {
                    continue;
                }

                List<MapNode> listX = lists.get(node.getX());
                MapNode mapNode = listX.get(node.getY());
                if (lock) {
                    mapNode.setValue(-999);//禁用库位
                } else {
                    //获取原始节点数据
                    List<MapNode> rows = realMap.get(node.getX());
                    MapNode col = rows.get(node.getY());
                    mapNode.setValue(col.getValue());//恢复库位
                }

                listX.set(node.getY(), mapNode);
                lists.set(node.getX(), listX);
            }
            basMap.setData(JSON.toJSONString(lists));
            basMap.setUpdateTime(new Date());
            //将数据库地图数据存入redis
            redisUtil.set("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
            //解锁
            redisUtil.unlock("realtimeBasMap_" + lev);
        } catch (Exception e) {
            e.printStackTrace();
        }
        return true;
    }

}

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

@@ -69,6 +69,14 @@
     * 调度车辆
     */
    public boolean dispatchShuttle(Integer wrkNo, String locNo) {
        //检测目标库位组是否存在小车，如存在小车则直接指定该车
        List<String> groupLoc = Utils.getGroupLoc(locNo);
        Integer groupShuttleNo = Utils.checkGroupLocHasShuttle(groupLoc);
        if (groupShuttleNo != null) {
            //存在小车，直接调度该车
            return shuttleMoveGenerate(wrkNo, locNo, groupShuttleNo);
        }

        ArrayList<NyShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
        ArrayList<NyShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车


 src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java

@@ -582,4 +582,10 @@
            }
        }
    }

    public void setShuttleNo(Short shuttleNo) {
        if (shuttleNo != 0) {
            this.shuttleNo = shuttleNo;
        }
    }
}

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

@@ -370,6 +370,7 @@
            return false;
        }

        NavigateMapUtils navigateMapUtils = SpringUtils.getBean(NavigateMapUtils.class);
        WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
        WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());

@@ -388,8 +389,6 @@
        }

        checkIOSta(commands, commandStep);//检测小车是否进出提升机输送站

        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

        boolean isLock = false;//是否解锁路径
        //取出命令
@@ -414,7 +413,7 @@
//                        nodes.addAll(command.getNodes());
//                    }
                    if (nodes != null) {
                        boolean result = navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
                        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), nodes, false);//解锁路径
                        if (!result) {
                            return false;//解锁失败
                        }
@@ -503,7 +502,7 @@
                nodes.addAll(nextNodes);
            }
            if (nodes != null) {
                boolean result = navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用
                boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), nodes, true);//所使用的路径进行锁定禁用
                if (!result) {
                    return false;//路径锁定失败
                }

			@@ -108,6 +108,8 @@
			private BasLiftOptService basLiftOptService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private NavigateMapUtils navigateMapUtils;


			/**
			@@ -2701,9 +2703,8 @@
			if (!checkPathIsAvailable) {
			return false;//检测目标站点路径是否未被占用
			}
			NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(wrkMast.getLocNo()));
			//尝试锁定目标站路径
			boolean result2 = navigateMapData.writeNavigateNodeToRedisMap(targetNodes, true);//所使用的路径进行锁定禁用
			boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, true);//所使用的路径进行锁定禁用
			if (!result2) {
			return false;//路径锁定失败
			}
			@@ -3078,13 +3079,12 @@
			}

			//***********尝试解锁目标站路径*************
			NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(wrkMast.getLocNo()));
			List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
			if (targetNodes == null) {
			return false;//未获取到节点
			}
			//尝试解锁目标站路径
			boolean result = navigateMapData.writeNavigateNodeToRedisMap(targetNodes, false);//所使用的路径进行解锁
			boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//所使用的路径进行解锁
			if (!result) {
			return false;//路径解锁失败
			}

			@@ -506,4 +506,45 @@
			return false;//指定楼层没有穿梭车
			}

			//检测库位组是否存在小车，存在返回小车号。
			public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
			if (groupLoc == null) {
			return null;
			}

			if (groupLoc.isEmpty()) {
			return null;
			}

			SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
			if (slaveProperties == null) {
			return null;
			}

			for (String loc : groupLoc) {
			for (ShuttleSlave slave : slaveProperties.getShuttle()) {
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
			if (shuttleThread == null) {
			continue;
			}

			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (shuttleProtocol.getCurrentLocNo() == null) {
			continue;
			}

			if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
			//存在小车
			return slave.getId();
			}
			}
			}

			return null;
			}

			}

			@@ -235,57 +235,4 @@
			return lists;
			}

			/**
			* 写入路径节点数据到redis地图中
			* lock为true 禁用库位，lock为false恢复库位
			*/
			public synchronized boolean writeNavigateNodeToRedisMap(List<NavigateNode> nodes, boolean lock) {
			RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
			try {
			if (!redisUtil.tryLock("realtimeBasMap_" + lev)) {
			return false;//加锁失败
			}

			Object o = redisUtil.get("realtimeBasMap_" + lev);
			if (o == null) {
			return false;
			}

			BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
			ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
			List<List<MapNode>> lists = filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//获取全部地图数据

			NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());
			List<List<MapNode>> realMap = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)
			for (NavigateNode node : nodes) {
			if (node.getZ() != lev) {
			continue;
			}

			List<MapNode> listX = lists.get(node.getX());
			MapNode mapNode = listX.get(node.getY());
			if (lock) {
			mapNode.setValue(-999);//禁用库位
			} else {
			//获取原始节点数据
			List<MapNode> rows = realMap.get(node.getX());
			MapNode col = rows.get(node.getY());
			mapNode.setValue(col.getValue());//恢复库位
			}

			listX.set(node.getY(), mapNode);
			lists.set(node.getX(), listX);
			}
			basMap.setData(JSON.toJSONString(lists));
			basMap.setUpdateTime(new Date());
			//将数据库地图数据存入redis
			redisUtil.set("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
			//解锁
			redisUtil.unlock("realtimeBasMap_" + lev);
			} catch (Exception e) {
			e.printStackTrace();
			}
			return true;
			}

			}

New file
			@@ -0,0 +1,73 @@
			package com.zy.common.utils;

			import com.alibaba.fastjson.JSON;
			import com.core.common.SpringUtils;
			import com.zy.asrs.entity.BasMap;
			import com.zy.common.model.MapNode;
			import com.zy.common.model.NavigateNode;
			import com.zy.common.model.enums.NavigationMapType;
			import org.springframework.stereotype.Component;

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

			@Component
			public class NavigateMapUtils {

			/**
			* 写入路径节点数据到redis地图中
			* lock为true 禁用库位，lock为false恢复库位
			*/
			public synchronized boolean writeNavigateNodeToRedisMap(Integer lev, List<NavigateNode> nodes, boolean lock) {
			RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
			try {
			NavigateMapData navigateMapData = new NavigateMapData(lev);

			if (!redisUtil.tryLock("realtimeBasMap_" + lev)) {
			return false;//加锁失败
			}

			Object o = redisUtil.get("realtimeBasMap_" + lev);
			if (o == null) {
			return false;
			}

			BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
			ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
			List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//获取全部地图数据

			NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());
			List<List<MapNode>> realMap = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)
			for (NavigateNode node : nodes) {
			if (node.getZ() != lev) {
			continue;
			}

			List<MapNode> listX = lists.get(node.getX());
			MapNode mapNode = listX.get(node.getY());
			if (lock) {
			mapNode.setValue(-999);//禁用库位
			} else {
			//获取原始节点数据
			List<MapNode> rows = realMap.get(node.getX());
			MapNode col = rows.get(node.getY());
			mapNode.setValue(col.getValue());//恢复库位
			}

			listX.set(node.getY(), mapNode);
			lists.set(node.getX(), listX);
			}
			basMap.setData(JSON.toJSONString(lists));
			basMap.setUpdateTime(new Date());
			//将数据库地图数据存入redis
			redisUtil.set("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
			//解锁
			redisUtil.unlock("realtimeBasMap_" + lev);
			} catch (Exception e) {
			e.printStackTrace();
			}
			return true;
			}

			}

			@@ -69,6 +69,14 @@
			* 调度车辆
			*/
			public boolean dispatchShuttle(Integer wrkNo, String locNo) {
			//检测目标库位组是否存在小车，如存在小车则直接指定该车
			List<String> groupLoc = Utils.getGroupLoc(locNo);
			Integer groupShuttleNo = Utils.checkGroupLocHasShuttle(groupLoc);
			if (groupShuttleNo != null) {
			//存在小车，直接调度该车
			return shuttleMoveGenerate(wrkNo, locNo, groupShuttleNo);
			}

			ArrayList<NyShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
			ArrayList<NyShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

			@@ -582,4 +582,10 @@
			}
			}
			}

			public void setShuttleNo(Short shuttleNo) {
			if (shuttleNo != 0) {
			this.shuttleNo = shuttleNo;
			}
			}
			}

			@@ -370,6 +370,7 @@
			return false;
			}

			NavigateMapUtils navigateMapUtils = SpringUtils.getBean(NavigateMapUtils.class);
			WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());

			@@ -388,8 +389,6 @@
			}

			checkIOSta(commands, commandStep);//检测小车是否进出提升机输送站

			NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

			boolean isLock = false;//是否解锁路径
			//取出命令
			@@ -414,7 +413,7 @@
			// nodes.addAll(command.getNodes());
			// }
			if (nodes != null) {
			boolean result = navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
			boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), nodes, false);//解锁路径
			if (!result) {
			return false;//解锁失败
			}
			@@ -503,7 +502,7 @@
			nodes.addAll(nextNodes);
			}
			if (nodes != null) {
			boolean result = navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用
			boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), nodes, true);//所使用的路径进行锁定禁用
			if (!result) {
			return false;//路径锁定失败
			}