From 2cfa8856fb1fd1ad7f642fd998d1644879abcdb5 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 25 七月 2024 10:02:24 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapUtils.java | 261 +++++++++++++++++++++++++++++++++------------------
1 files changed, 168 insertions(+), 93 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapUtils.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapUtils.java
index 396260b..fb4052f 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapUtils.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapUtils.java
@@ -1,93 +1,168 @@
-//package com.zy.asrs.wcs.core.utils;
-//
-//import com.alibaba.fastjson.JSON;
-//import com.zy.asrs.common.wms.entity.BasMap;
-//import com.zy.asrs.framework.common.SpringUtils;
-//import com.zy.asrs.wcs.core.model.MapNode;
-//import com.zy.asrs.wcs.core.model.NavigateNode;
-//import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
-//import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
-//import org.springframework.stereotype.Component;
-//
-//import java.util.ArrayList;
-//import java.util.Date;
-//import java.util.List;
-//
-//@Component
-//public class NavigateMapUtils {
-//
-// /**
-// * 鍐欏叆璺緞鑺傜偣鏁版嵁鍒皉edis鍦板浘涓�
-// * lock涓簍rue 绂佺敤搴撲綅锛宭ock涓篺alse鎭㈠搴撲綅
-// */
-// public synchronized boolean writeNavigateNodeToRedisMap(Integer lev, Integer shuttleNo, List<NavigateNode> nodes, boolean lock) {
-// RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
-// try {
-// if (nodes.isEmpty()) {
-// return true;
-// }
-//
-// NavigateMapData navigateMapData = new NavigateMapData(lev);
-//
-// Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
-// if (o == null) {
-// return false;
-// }
-//
-// //鑾峰彇灏忚溅鑺傜偣
-// List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, lev);
-//
-// BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
-// ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
-// //甯﹀皬杞﹀湴鍥�
-// List<List<MapNode>> listsHasShuttle = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, shuttlePoints);//鑾峰彇甯﹀皬杞﹀湴鍥炬暟鎹�
-// List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//鑾峰彇鍏ㄩ儴鍦板浘鏁版嵁
-//
-// //妫�娴嬭矾寰勬槸鍚﹁閿佸畾
-// if (lock) {
-// for (NavigateNode node : nodes) {
-// List<MapNode> listX = listsHasShuttle.get(node.getX());
-// MapNode mapNode = listX.get(node.getY());
-// if (mapNode.getValue() == -999) {
-// return false;//璺緞琚攣瀹氳繃锛岀姝㈠啀娆￠攣瀹�
-// }
-// if (mapNode.getValue() == 66) {
-// return false;//璺緞瀛樺湪灏忚溅锛岀姝㈤攣瀹�
-// }
-// }
-// }
-//
-// //灏濊瘯閿佸畾/瑙ｉ攣璺緞
-// NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());
-// List<List<MapNode>> realMap = mapData.getJsonData(-1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
-// 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);//绂佺敤搴撲綅
-// } else {
-// //鑾峰彇鍘熷鑺傜偣鏁版嵁
-// List<MapNode> rows = realMap.get(node.getX());
-// MapNode col = rows.get(node.getY());
-// mapNode.setValue(col.getValue());//鎭㈠搴撲綅
-// }
-//
-// listX.set(node.getY(), mapNode);
-// lists.set(node.getX(), listX);
-// }
-// basMap.setData(JSON.toJSONString(lists));
-// basMap.setUpdateTime(new Date());
-// //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
-// redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(basMap));
-// return true;
-// } catch (Exception e) {
-// e.printStackTrace();
-// }
-// return false;
-// }
-//
-//}
+package com.zy.asrs.wcs.core.utils;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.serializer.SerializerFeature;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.core.type.TypeReference;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
+import com.zy.asrs.wcs.core.model.MapNode;
+import com.zy.asrs.wcs.core.model.NavigateNode;
+import com.zy.asrs.wcs.core.model.enums.MapNodeType;
+import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
+import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+@Component
+public class NavigateMapUtils {
+
+ @Autowired
+ private NavigateMapData navigateMapData;
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private ObjectMapper objectMapper;
+
+ /**
+ * 鍐欏叆璺緞鑺傜偣鏁版嵁鍒皉edis鍦板浘涓�
+ * lock涓簍rue 绂佺敤搴撲綅锛宭ock涓篺alse鎭㈠搴撲綅
+ */
+ public synchronized boolean writeNavigateNodeToRedisMap(Integer lev, Integer shuttleNo, List<NavigateNode> nodes, boolean lock) {
+ try {
+ if (nodes.isEmpty()) {
+ return true;
+ }
+
+ navigateMapData.setLev(lev);
+ Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
+ if (o == null) {
+ return false;
+ }
+
+ //鑾峰彇灏忚溅鑺傜偣
+ List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, lev);
+
+ RedisMapDto redisMap = JSON.parseObject(o.toString(), RedisMapDto.class);
+ ArrayList arrayList = JSON.parseObject(redisMap.getData(), ArrayList.class);
+ //甯﹀皬杞﹀湴鍥�
+ List<List<MapNode>> listsHasShuttle = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, shuttlePoints);//鑾峰彇甯﹀皬杞﹀湴鍥炬暟鎹�
+ List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//鑾峰彇鍏ㄩ儴鍦板浘鏁版嵁
+
+ //妫�娴嬭矾寰勬槸鍚﹁閿佸畾
+ if (lock) {
+ for (NavigateNode node : nodes) {
+ List<MapNode> listX = listsHasShuttle.get(node.getX());
+ MapNode mapNode = listX.get(node.getY());
+ if (mapNode.getValue() == MapNodeType.LOCK.id) {
+ return false;//璺緞琚攣瀹氳繃锛岀姝㈠啀娆￠攣瀹�
+ }
+ if (mapNode.getValue() == MapNodeType.CAR.id) {
+ return false;//璺緞瀛樺湪灏忚溅锛岀姝㈤攣瀹�
+ }
+ }
+ }
+
+ //灏濊瘯閿佸畾/瑙ｉ攣璺緞
+ navigateMapData.setLev(nodes.get(0).getZ());
+ List<List<MapNode>> realMap = navigateMapData.getJsonDataFromDict(-1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+ 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(MapNodeType.LOCK.id);//绂佺敤搴撲綅
+ } else {
+ //鑾峰彇鍘熷鑺傜偣鏁版嵁
+ List<MapNode> rows = realMap.get(node.getX());
+ MapNode col = rows.get(node.getY());
+ mapNode.setValue(col.getValue());//鎭㈠搴撲綅
+ }
+
+ listX.set(node.getY(), mapNode);
+ lists.set(node.getX(), listX);
+ }
+ redisMap.setData(JSON.toJSONString(lists));
+ redisMap.setUpdateTime(new Date());
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(redisMap, SerializerFeature.DisableCircularReferenceDetect));
+
+ //淇濆瓨璺緞閿佽妭鐐�
+ saveLockPath(lev, nodes, lock);
+ return true;
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return false;
+ }
+
+ //淇濆瓨璺緞閿佽妭鐐�
+ public void saveLockPath(Integer lev, List<NavigateNode> nodes, boolean lock) {
+ Object o = redisUtil.get(DeviceRedisConstant.LOCK_PATH + lev);
+ List<NavigateNode> navigateNodes = new ArrayList<>();
+ if (o != null) {
+ try {
+ navigateNodes = objectMapper.readValue(o.toString(), new TypeReference<List<NavigateNode>>() {});
+ } catch (JsonProcessingException e) {
+ throw new RuntimeException(e);
+ }
+ }
+
+ String nodeStr = null;
+ if (lock) {
+ navigateNodes.addAll(nodes);
+ try {
+ nodeStr = objectMapper.writeValueAsString(navigateNodes);
+ } catch (JsonProcessingException e) {
+ throw new RuntimeException(e);
+ }
+ redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, nodeStr);
+ }else {
+ List<NavigateNode> tmp = new ArrayList<>();
+ for (NavigateNode navigateNode : navigateNodes) {
+ boolean flag = true;
+ for (NavigateNode node : nodes) {
+ if (navigateNode.getX() == node.getX()
+ && navigateNode.getY() == node.getY()
+ && navigateNode.getZ() == node.getZ()) {
+ flag = false;
+ break;
+ }
+ }
+
+ if (flag) {
+ tmp.add(navigateNode);
+ }
+ }
+
+ try {
+ nodeStr = objectMapper.writeValueAsString(tmp);
+ } catch (JsonProcessingException e) {
+ throw new RuntimeException(e);
+ }
+ redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, nodeStr);
+ }
+ }
+
+ //鑾峰彇璺緞閿佽妭鐐�
+ public List<NavigateNode> getLockPath(Integer lev) {
+ Object obj = redisUtil.get(DeviceRedisConstant.LOCK_PATH + lev);
+ List<NavigateNode> navigateNodes = new ArrayList<>();
+ if (obj != null) {
+ try {
+ navigateNodes = objectMapper.readValue(obj.toString(), new TypeReference<List<NavigateNode>>() {});
+ } catch (JsonProcessingException e) {
+ throw new RuntimeException(e);
+ }
+ }
+ return navigateNodes;
+ }
+
+}
--
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