From 627f9f28c8a19d9deae694c11c10dec1d4593270 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 06 六月 2024 16:58:28 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java | 2
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapUtils.java | 2
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 20 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java | 223 ++++++++++++++++++++++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java | 16 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapData.java | 220 +++++++++++++++++------
6 files changed, 409 insertions(+), 74 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java
index cad6634..ccbc866 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java
@@ -42,7 +42,7 @@
}
// 鍏ュ簱 ===>> 鍏ュ簱绔欏埌鍫嗗灈鏈虹珯锛屾牴鎹潯鐮佹壂鎻忕敓鎴愬叆搴撳伐浣滄。
- mainService.generateInboundWrk(); // 缁勬墭
+// mainService.generateInboundWrk(); // 缁勬墭
// 闂撮殧
Thread.sleep(500);
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
index 1f1c557..12beefa 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
@@ -1,8 +1,10 @@
package com.zy.asrs.wcs.core.action;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.entity.Loc;
@@ -70,7 +72,7 @@
redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
redisCommand.setAssignCommand(assignCommand);//鍛戒护
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- if (redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
+ if (redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect))) {
if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id
|| assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id
|| assignCommand.getTaskMode() == ShuttleTaskModeType.MOVE_LOC_NO.id
@@ -135,7 +137,15 @@
if (command.getTargetLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
command.setComplete(true);
//瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰�
- List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);//杩涜娣卞害copy
+ List<NavigateNode> nodes = null;
+ try {
+ String nodesStr = objectMapper.writeValueAsString(command.getNodes());
+ nodes = objectMapper.readValue(nodesStr, new TypeReference<List<NavigateNode>>() {
+ });
+ } catch (JsonProcessingException e) {
+ throw new RuntimeException(e);
+ }
+
if (nodes != null) {
NavigateNode targetNode = assignCommand.getNodes().get(assignCommand.getNodes().size() - 1);//鏈�缁堣妭鐐�
NavigateNode node = nodes.get(nodes.size() - 1);
@@ -175,7 +185,7 @@
}
// 鏇存柊redis鏁版嵁
- redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand));
+ redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
if (!command.getComplete()) {
return false;
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
index f0fbe84..ad71444 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
@@ -7,6 +7,7 @@
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
+import com.zy.asrs.wcs.core.domain.dto.StaDto;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.MapNode;
@@ -26,6 +27,7 @@
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
+import com.zy.asrs.wcs.rcs.thread.BarcodeThread;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.entity.Dict;
@@ -68,13 +70,201 @@
private ShuttleDispatcher shuttleDispatcher;
@Autowired
private RedisUtil redisUtil;
+ @Autowired
+ private BasConveyorService basConveyorService;
/**
* 缁勬墭
* 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
*/
public synchronized void generateInboundWrk() {
+ try {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
+ .eq(Device::getStatus, 1));
+ for (Device devp : list) {
+ BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getDeviceId, devp.getId()).eq(BasConveyor::getHostId, devp.getHostId()));
+ // 閬嶅巻鍏ュ簱鍙�
+ for (StaDto inSta : JSON.parseArray(basConveyor.getInSta(), StaDto.class)) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId().intValue());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ Short workNo = staProtocol.getWorkNo();
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "寮傚父锛�";
+ if (staProtocol.isFrontErr()) {
+ errMsg = errMsg + "鍓嶈秴闄愶紱";
+ back = true;
+ }
+ if (staProtocol.isBackErr()) {
+ errMsg = errMsg + "鍚庤秴闄�";
+ back = true;
+ }
+ if (staProtocol.isHighErr()) {
+ errMsg = errMsg + "楂樿秴闄�";
+ back = true;
+ }
+ if (staProtocol.isLeftErr()) {
+ errMsg = errMsg + "宸﹁秴闄�";
+ back = true;
+ }
+ if (staProtocol.isRightErr()) {
+ errMsg = errMsg + "鍙宠秴闄�";
+ back = true;
+ }
+ if (staProtocol.isWeightErr()) {
+ errMsg = errMsg + "瓒呴噸";
+ back = true;
+ }
+ if (staProtocol.isBarcodeErr()) {
+ errMsg = errMsg + "鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+// // led 寮傚父鏄剧ず
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+// if (ledThread != null) {
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+// }
+ continue;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
+ ) {
+
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+ if (!Cools.isEmpty(barcode)) {
+// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+ if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode) || "00000000".equals(barcode)) {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+// // led 寮傚父鏄剧ず
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+// if (ledThread != null) {
+// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+// }
+ continue;
+ }
+ } else {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+// // led 寮傚父鏄剧ず
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+// if (ledThread != null) {
+// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+// }
+ continue;
+ }
+
+// // 杩囨护鐩樼偣/鎷ｆ枡/骞舵澘浠诲姟
+// WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
+// if (null != wrkMast1) {
+// continue;
+// }
+//
+// // 鍒ゆ柇閲嶅宸ヤ綔妗�
+// WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+// if (wrkMast2 != null) {
+// News.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast2.getWrkNo());
+// continue;
+// }
+//
+// try {
+// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+// SearchLocParam param = new SearchLocParam();
+// param.setBarcode(barcode);
+// param.setIoType(1);
+// param.setSourceStaNo(inSta.getStaNo());
+// param.setLocType1(locTypeDto.getLocType1());
+// String response = new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/pakin/loc/v2")
+// .setJson(JSON.toJSONString(param))
+// .build()
+// .doPost();
+// JSONObject jsonObject = JSON.parseObject(response);
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+// Integer code = jsonObject.getInteger("code");
+// if (code.equals(200)) {
+// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+//// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
+//// staProtocol.setStaNo(dto.getStaNo().shortValue());
+//// devpThread.setPakMk(staProtocol.getSiteId(), false);
+////
+//// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//// if (!result) {
+//// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+//// }
+//
+// // 鍒ゆ柇閲嶅宸ヤ綔妗�
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
+// if (wrkMast == null) {
+// continue;
+// }
+//
+// // 鏇存柊宸ヤ綔涓绘。
+// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
+// wrkMast.setModiTime(new Date());
+// if (wrkMastMapper.updateById(wrkMast) == 0) {
+// News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+// }
+//
+// } else if (code == 500) {
+// if (ledThread != null) {
+// String errorMsg = jsonObject.getString("msg");
+// if (!Cools.isEmpty(errorMsg)) {
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+// ledThread.setLedMk(false);
+// }
+// }
+// News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
+// } else if (code == 700) {
+//// staProtocol.setWorkNo((short) 32002);
+//// staProtocol.setRollback102(1);//102绔欏洖閫�淇″彿
+//// devpThread.setPakMk(staProtocol.getSiteId(), false);
+//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
+//
+// // led 寮傚父鏄剧ず
+// if (ledThread != null) {
+// String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+// ledThread.setLedMk(false);
+// }
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+// }
+ }
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
}
/**
@@ -134,7 +324,36 @@
}
});
- list.add(nodes);
+ ArrayList<MapNode> sortNodes = new ArrayList<>();
+ int defaultBay = 1;//榛樿浠�1鍒楀紑濮�
+ for (MapNode node : nodes) {
+ if (node.getBay() == defaultBay) {
+ defaultBay++;
+ sortNodes.add(node);
+ continue;
+ }
+
+ //瀛樺湪绌虹己鑺傜偣锛岃嚜鍔ㄨˉ瓒�
+ for (int i = defaultBay; i < node.getBay(); i++) {
+ MapNode mapNode = new MapNode();
+ mapNode.setValue(-1);
+ mapNode.setTop(1000);
+ mapNode.setBottom(1000);
+ mapNode.setLeft(1000);
+ mapNode.setRight(1000);
+ mapNode.setRow(node.getRow());
+ mapNode.setBay(i);
+ mapNode.setNo(node.getRow() + "-" + i);
+ mapNode.setXBase(0);
+ mapNode.setYBase(0);
+ sortNodes.add(mapNode);
+ }
+
+ defaultBay = node.getBay() + 1;
+ sortNodes.add(node);
+ }
+
+ list.add(sortNodes);
}
levData.put(lev, list);
@@ -186,7 +405,7 @@
map.setLev(lev);
Object data = redisUtil.get(DeviceRedisConstant.MAP + lev);
- if (data != null) {
+ if (data == null) {
//灏嗗湴鍥炬暟鎹瓨鍏edis
redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(map));
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapData.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapData.java
index 1868b6b..19641c9 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapData.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapData.java
@@ -1,24 +1,24 @@
package com.zy.asrs.wcs.core.utils;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.wms.entity.BasMap;
-import com.zy.asrs.common.wms.entity.LocMast;
-import com.zy.asrs.common.wms.service.LocMastService;
import com.zy.asrs.framework.common.SpringUtils;
+import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.entity.Loc;
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.core.service.LocService;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
+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.stereotype.Component;
import java.io.*;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
/**
* A*绠楁硶鍦板浘鑾峰彇绫�
@@ -28,6 +28,8 @@
@Autowired
private LocService locService;
+ @Autowired
+ private DictService dictService;
private Integer lev;//鍦板浘妤煎眰
@@ -125,6 +127,154 @@
return map;
}
+ //鑾峰彇JSON鏍煎紡鏁版嵁-鍘熷鍦板浘
+ public List<List<MapNode>> getJsonDataFromDict(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ List<List<MapNode>> arrayList = getMapFromDict(lev);
+ return arrayList;
+ }
+
+ //浠庢暟鎹瓧鍏镐腑瑙ｆ瀽鎸囧畾妤煎眰鍦板浘鏁版嵁
+ public List<List<MapNode>> getMapFromDict(Integer currentLev) {
+ List<Dict> dicts = dictService.list(new LambdaQueryWrapper<Dict>()
+ .like(Dict::getFlag, "map-" + currentLev)
+ .eq(Dict::getStatus, 1));
+
+ TreeMap<Integer, ArrayList<ArrayList<MapNode>>> levData = new TreeMap<>();
+ for (Dict dict : dicts) {
+ String[] split = dict.getFlag().split("-");
+ int lev = Integer.parseInt(split[1]);
+
+ TreeMap<Integer, List<JSONObject>> rows = new TreeMap<>();
+ //鎺掑簭Row
+ JSONArray value = JSON.parseArray(dict.getValue());
+ for (Object o : value) {
+ JSONObject item = JSON.parseObject(o.toString());
+ if (item.getString("type").equals("SHELF")) {
+ JSONObject property = JSON.parseObject(item.getString("property"));
+ Integer row1 = property.getInteger("row");
+ ArrayList<JSONObject> bays = new ArrayList<>();
+ if (rows.containsKey(row1)) {
+ bays.addAll(rows.get(row1));
+ }
+ bays.add(property);
+ rows.put(row1, bays);
+ }
+ }
+
+ ArrayList<ArrayList<MapNode>> list = new ArrayList<>();
+ //鎺掑簭Bay
+ for (Map.Entry<Integer, List<JSONObject>> entry : rows.entrySet()) {
+ ArrayList<MapNode> nodes = new ArrayList<>();
+ for (JSONObject object : entry.getValue()) {
+ MapNode mapNode = new MapNode();
+ mapNode.setValue(object.getInteger("shelfType"));
+ mapNode.setTop(object.getInteger("top"));
+ mapNode.setBottom(object.getInteger("bottom"));
+ mapNode.setLeft(object.getInteger("left"));
+ mapNode.setRight(object.getInteger("right"));
+ mapNode.setRow(object.getInteger("row"));
+ mapNode.setBay(object.getInteger("bay"));
+ mapNode.setNo(object.getString("row") + "-" + object.getString("bay"));
+ mapNode.setXBase(object.getInteger("refx"));
+ mapNode.setYBase(object.getInteger("refy"));
+ nodes.add(mapNode);
+ }
+
+ Collections.sort(nodes, new Comparator<MapNode>() {
+ @Override
+ public int compare(MapNode o1, MapNode o2) {
+ return Integer.compare(o1.getBay(), o2.getBay());
+ }
+ });
+
+ ArrayList<MapNode> sortNodes = new ArrayList<>();
+ int defaultBay = 1;//榛樿浠�1鍒楀紑濮�
+ for (MapNode node : nodes) {
+ if (node.getBay() == defaultBay) {
+ defaultBay++;
+ sortNodes.add(node);
+ continue;
+ }
+
+ //瀛樺湪绌虹己鑺傜偣锛岃嚜鍔ㄨˉ瓒�
+ for (int i = defaultBay; i < node.getBay(); i++) {
+ MapNode mapNode = new MapNode();
+ mapNode.setValue(-1);
+ mapNode.setTop(1000);
+ mapNode.setBottom(1000);
+ mapNode.setLeft(1000);
+ mapNode.setRight(1000);
+ mapNode.setRow(node.getRow());
+ mapNode.setBay(i);
+ mapNode.setNo(node.getRow() + "-" + i);
+ mapNode.setXBase(0);
+ mapNode.setYBase(0);
+ sortNodes.add(mapNode);
+ }
+
+ defaultBay = node.getBay() + 1;
+ sortNodes.add(node);
+ }
+
+ list.add(sortNodes);
+ }
+
+ levData.put(lev, list);
+ }
+
+ for (Map.Entry<Integer, ArrayList<ArrayList<MapNode>>> entry : levData.entrySet()) {
+ ArrayList<ArrayList<MapNode>> lists = entry.getValue();//鑾峰彇鍦板浘
+
+ MapNode mapNode = new MapNode();
+ mapNode.setValue(-1);
+ mapNode.setTop(1000);
+ mapNode.setBottom(1000);
+ mapNode.setLeft(1000);
+ mapNode.setRight(1000);
+ mapNode.setRow(0);
+ mapNode.setBay(0);
+ mapNode.setNo("0-0");
+ mapNode.setXBase(0);
+ mapNode.setYBase(0);
+
+ //鑾峰彇鏈�闀縭ow
+ int row = 0;
+ //缁欐瘡涓猺ow棣栧熬澧炲姞-1鑺傜偣
+ for (ArrayList<MapNode> list : lists) {
+ if (list.size() > row) {
+ row = list.size();
+ }
+
+ list.add(0, mapNode.clone());
+ list.add(mapNode.clone());
+ }
+
+ ArrayList<MapNode> headNodes = new ArrayList<>();
+ ArrayList<MapNode> footerNodes = new ArrayList<>();
+ for (int i = 0; i < row+2; i++) {
+ headNodes.add(mapNode.clone());
+ footerNodes.add(mapNode.clone());
+ }
+
+ lists.add(0, headNodes);
+ lists.add(footerNodes);
+
+ Integer lev = entry.getKey();
+ Date now = new Date();
+ RedisMapDto map = new RedisMapDto();
+ map.setData(JSON.toJSONString(lists));
+ map.setCreateTime(now);
+ map.setUpdateTime(now);
+ map.setLev(lev);
+
+ List<List<MapNode>> mapNodeList = new ArrayList<>();
+ mapNodeList.addAll(lists);
+ return mapNodeList;
+ }
+
+ return null;
+ }
+
//鑾峰彇JSON鏍煎紡鏁版嵁
public List<List<MapNode>> getJsonData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
@@ -163,7 +313,8 @@
//杩囨护鏁版嵁
//鑾峰彇褰撳墠妤煎眰搴撲綅鏁版嵁
List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
- .eq(Loc::getLev, lev));
+ .eq(Loc::getLev, lev)
+ .orderByAsc(Loc::getRow, Loc::getBay));
for (Loc loc : locs) {
Integer row = loc.getRow();
Integer bay = loc.getBay();
@@ -224,61 +375,6 @@
}
return lists;
- }
-
- /**
- * 閿�/瑙ｉ攣 璺緞鑺傜偣
- * 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(List<NavigateNode> nodes, boolean lock) {
- RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
- 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);//鑾峰彇鍏ㄩ儴鍦板浘鏁版嵁
-
- // 闃叉閲嶅閿佽矾寰�
- if (lock) {
- for (NavigateNode node : nodes) {
- List<MapNode> listX = lists.get(node.getX());
- MapNode mapNode = listX.get(node.getY());
- if (mapNode.getValue() == -999) {
- return false;
- }
- }
- }
-
- this.setLev(nodes.get(0).getZ());
- List<List<MapNode>> realMap = this.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("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
- return true;
}
}
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 9e34086..26179cc 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
@@ -62,7 +62,7 @@
//灏濊瘯閿佸畾/瑙ｉ攣璺緞
navigateMapData.setLev(nodes.get(0).getZ());
- List<List<MapNode>> realMap = navigateMapData.getJsonData(-1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+ 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;
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
index bcd4c5a..58a5b44 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
@@ -46,7 +46,7 @@
@SuppressWarnings("all")
public class SurayShuttleThread implements ShuttleThread {
- private static final String API_URL = "http://127.0.0.1:8082";
+ private static final String API_URL = "http://192.168.7.149:8082";
private Device device;
private RedisUtil redisUtil;
@@ -238,6 +238,16 @@
@Override
public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
try {
+ //榛樿鍦板浘姣嶈建鏂瑰悜x
+ String mapDirection = "x";
+ DictService dictService = SpringUtils.getBean(DictService.class);
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "direction_map")
+ .eq(Dict::getStatus, 1));
+ if (dict != null) {
+ mapDirection = dict.getValue();
+ }
+
String loginToken = requestLoginToken();
if (loginToken == null) {
return false;
@@ -262,13 +272,13 @@
NavigateNode startPath = sectionNodes.get(0);
//缁撴潫璺緞
NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
- if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
+ if (mapDirection.equals("y") && ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
|| ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
- //瀛愯建鏂瑰悜
- oper = 6;
- } else {
//姣嶈建鏂瑰悜
oper = 5;
+ } else {
+ //瀛愯建鏂瑰悜
+ oper = 6;
}
for (int i = 0; i < sectionNodes.size(); i++) {
--
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