From 89c7f6e5bcc21b0e8f83a2bc6d680e2ffe431e6f Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 13 一月 2025 09:38:29 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 69 ++++++++++++++++++++++++++++++++--
1 files changed, 64 insertions(+), 5 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index cb34cda..4ad4904 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -1,6 +1,5 @@
package com.zy.acs.manager.core.service;
-import com.alibaba.fastjson.JSONObject;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
@@ -125,7 +124,7 @@
// 瑙掑害璁＄畻
- public Double calculateDirection(Code startCode, Code endCode) {
+ public Double calculateDirection(Code startCode, Code endCode, int angleOffsetVal) {
Double x0 = startCode.getX();
Double y0 = startCode.getY();
@@ -135,7 +134,6 @@
double deltaX = x1 - x0;
double deltaY = y1 - y0;
double angle = -Math.atan2(deltaX, deltaY);
- int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
angle = Math.toDegrees(angle) + angleOffsetVal;
angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
@@ -143,8 +141,7 @@
}
// 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirection(JSONObject storeDirection, Loc loc, Code code) {
- storeDirection.getString("key");
+ public AgvDirectionType calculateAgvWorkDirection(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
AgvDirectionType agvDirectionType = null;
if (compDirect == 0) {
@@ -368,6 +365,33 @@
return turnMatrixNode == TurnNodeType.TURN.val;
}
+ /**
+ * That vehicle is walking if the dynamic node count > 1
+ */
+ @SuppressWarnings("all")
+ public boolean isWalkingByVehicle(Integer lev, String vehicle) {
+ if (Cools.isEmpty(vehicle)) {
+ return false;
+ }
+
+ lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+
+ int count = 0;
+ for (int i = 0; i < dynamicMatrix.length; i++) {
+ for (int j = 0; j < dynamicMatrix[i].length; j++) {
+ if (vehicle.equals(dynamicMatrix[i][j].getVehicle())) {
+ count++;
+ if (count > 1) {
+ return true;
+ }
+ }
+ }
+ }
+
+ return false;
+ }
+
public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
if (Cools.isEmpty(nodeType)) {
return new ArrayList<>();
@@ -405,4 +429,39 @@
.collect(Collectors.toList());
}
+ public Map<String, List<String>> queryCodeListFromDynamicNode(Integer lev, Set<String> vehicles) {
+ if (Cools.isEmpty(vehicles)) {
+ return new HashMap<>();
+ }
+ lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
+
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+ String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+
+ Map<String, List<SortCodeDto>> map = new HashMap<>(vehicles.size());
+
+ for (int i = 0; i < codeMatrix.length; i++) {
+ for (int j = 0; j < codeMatrix[i].length; j++) {
+ DynamicNode dynamicNode = dynamicMatrix[i][j];
+ String vehicle = dynamicNode.getVehicle();
+
+ if (vehicles.contains(vehicle)) {
+ int serial = dynamicNode.getSerial();
+ map.computeIfAbsent(vehicle, k -> new ArrayList<>()).add(new SortCodeDto(codeMatrix[i][j], serial));
+ }
+ }
+ }
+
+ Map<String, List<String>> result = new HashMap<>(vehicles.size());
+ for (Map.Entry<String, List<SortCodeDto>> entry : map.entrySet()) {
+ List<String> codeDataList = entry.getValue().stream()
+ .sorted(Comparator.comparingInt(SortCodeDto::getSerial))
+ .map(SortCodeDto::getCode)
+ .collect(Collectors.toList());
+ result.put(entry.getKey(), codeDataList);
+ }
+
+ return result;
+ }
+
}
--
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