From 70930071a49190f414c8d8bc9c9e9795a4096739 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期一, 23 三月 2026 16:08:27 +0800
Subject: [PATCH] Merge branch 'refs/heads/rcs_master' into jdxaj
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 63 ++++++++++++++++++++++---------
1 files changed, 45 insertions(+), 18 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
index 04be5ac..c0bf873 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
@@ -7,6 +7,7 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.utils.MapDataUtils;
+import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Code;
@@ -15,13 +16,18 @@
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.RouteService;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import com.zy.acs.common.utils.News;
+import javax.annotation.PostConstruct;
import java.util.*;
/**
* Created by vincent on 6/6/2024
*/
@Slf4j
+@Service
public class MapDataDispatcher {
public static final Integer MAP_DEFAULT_LEV = 1;
@@ -41,13 +47,22 @@
public Map<String, Boolean> routeCdaMap = new HashMap<>();
- private final CodeService codeService;
+ @Autowired
+ private CodeService codeService;
- private final RouteService routeService;
+ @Autowired
+ private RouteService routeService;
- public MapDataDispatcher(CodeService codeService, RouteService routeService) {
- this.codeService = codeService;
- this.routeService = routeService;
+ @PostConstruct
+ public void init() {
+ String[][] codeMatrix = this.getCodeMatrix(null);
+ this.initRouteMap(null);
+ if (codeMatrix.length > 0) {
+ this.getMapMatrix(null, null);
+ this.getTurnMatrix(null);
+ this.getCdaMatrix(null);
+ this.getDynamicMatrix(null);
+ }
}
public String[][] getWaveMatrix(Integer lev) {
@@ -215,10 +230,13 @@
}
public synchronized DynamicNode[][] initDynamicMatrix(Integer lev) {
- log.info("There is initializing Dynamic Matrix......");
+ News.info("There is initializing Dynamic Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
+ if (null == codeMatrix || codeMatrix.length == 0) {
+ return new DynamicNode[0][0];
+ }
DynamicNode[][] dynamicMatrix = new DynamicNode[codeMatrix.length][codeMatrix[0].length];
for (int i = 0; i < codeMatrix.length; i++) {
@@ -235,7 +253,7 @@
}
public synchronized String[][] initCdaMatrix(Integer lev) {
- log.info("There is initializing Cda Matrix......");
+ News.info("There is initializing Cda Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
if (Cools.isEmpty(xIdxList, yIdxList)) {
@@ -271,7 +289,7 @@
}
public synchronized int[][] initTurnMatrix(Integer lev) {
- log.info("There is initializing Turn Matrix......");
+ News.info("There is initializing Turn Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -320,7 +338,7 @@
public synchronized int[][] initMapMatrix(Integer lev) {
- log.info("There is initializing Map Matrix......");
+ News.info("There is initializing Map Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -353,7 +371,7 @@
}
public synchronized void initRouteMap(Integer lev) {
- log.info("There is initializing Route Map......");
+ News.info("There is initializing Route Map......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
Set<String> routeKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG);
Set<String> routeCdaKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG);
@@ -387,7 +405,7 @@
}
public synchronized String[][] initCodeMatrix(Integer lev) {
- log.info("There is initializing Code Matrix......");
+ News.info("There is initializing Code Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>()
.eq(Code::getStatus, 1)
@@ -481,11 +499,15 @@
return codeMatrixIdxList;
}
- public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle) {
- this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false);
+ public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, List<PathDto> pathTrace) {
+ this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false, pathTrace);
}
public synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset) {
+ this.modifyDynamicMatrix(lev, codeIdxList, vehicle, reset, null);
+ }
+
+ private synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset, List<PathDto> pathTrace) {
if (Cools.isEmpty(vehicle)) {
return;
}
@@ -493,10 +515,15 @@
DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);
if (!reset) {
-// long time = System.currentTimeMillis() / 1000;
int serial = 1;
- for (int[] codeMatrixIdx : codeIdxList) {
- dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial);
+ for (int i = 0; i < codeIdxList.size(); i++) {
+ int[] codeMatrixIdx = codeIdxList.get(i);
+
+ PathDto pathDto = (pathTrace != null && i < pathTrace.size()) ? pathTrace.get(i) : null;
+ Double direction = pathDto == null ? null : pathDto.getDirection();
+ boolean turn = pathDto != null && pathDto.isTurn();
+
+ dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial, direction, turn);
serial++;
}
} else {
@@ -514,7 +541,7 @@
}
public void clearDynamicMatrixByCodeList(Integer lev, List<int[]> codeIdxList) {
- this.modifyDynamicMatrix(lev, codeIdxList, DynamicNodeType.ACCESS.val);
+ this.modifyDynamicMatrix(lev, codeIdxList, DynamicNodeType.ACCESS.val, false, null);
}
public int[][] filterMapData(int[][] mapMatrix, Integer lev, List<String> lockNodes) {
@@ -548,4 +575,4 @@
}
}
-}
+}
\ No newline at end of file
--
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