From f5ce30b28233487bbad44b20e9f93ca299941a8a Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 26 九月 2024 15:36:44 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/MapCommandService.java | 124 +++++++++++++++++++++++++++++++++++++++++
1 files changed, 124 insertions(+), 0 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/MapCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/MapCommandService.java
new file mode 100644
index 0000000..7d65d0a
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/MapCommandService.java
@@ -0,0 +1,124 @@
+package com.zy.asrs.wcs.core.kernel.command;
+
+import com.zy.asrs.wcs.core.entity.Motion;
+import com.zy.asrs.wcs.core.model.MapNode;
+import com.zy.asrs.wcs.core.model.NavigateNode;
+import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
+import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
+import com.zy.asrs.wcs.core.utils.*;
+import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
+import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
+import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
+import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
+import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+
+@Slf4j
+@Service
+public class MapCommandService {
+
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private NavigateMapUtils navigateMapUtils;
+ @Autowired
+ private NavigateMapData navigateMapData;
+
+ public Boolean accept(Motion motion) {
+ switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))) {
+ case MAP_LOCK_PATH:
+ return lockPath(motion, true);
+ case MAP_UNLOCK_PATH:
+ return lockPath(motion, false);
+ default:
+ break;
+ }
+
+ return Boolean.TRUE;
+ }
+
+ public Boolean finish(Motion motion) {
+ switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))) {
+ case MAP_LOCK_PATH:
+ return checkLockPath(motion, true);
+ case MAP_UNLOCK_PATH:
+ return checkLockPath(motion, false);
+ default:
+ break;
+ }
+
+ return Boolean.TRUE;
+ }
+
+ private boolean lockPath(Motion motion, boolean lock) {
+ Integer deviceNo = Integer.parseInt(motion.getDevice());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceNo);
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (null == shuttleProtocol) {
+ return false;
+ }
+
+ NavigateNode navigateNode = NavigatePositionConvert.locNoToNode(motion.getTarget());
+ List<NavigateNode> nodes = new ArrayList<>();
+ nodes.add(navigateNode);
+
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�/瑙ｉ攣
+ boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), nodes, lock);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�/瑙ｉ攣
+ if (!lockResult) {
+ return false;//閿佸畾/瑙ｉ攣澶辫触
+ }
+ return true;
+ }
+
+ private boolean checkLockPath(Motion motion, boolean lock) {
+ NavigateNode navigateNode = NavigatePositionConvert.locNoToNode(motion.getTarget());
+ List<NavigateNode> nodes = new ArrayList<>();
+ nodes.add(navigateNode);
+
+ int lev = Utils.getLev(motion.getTarget());
+
+ Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
+ if (o == null) {
+ return false;
+ }
+
+ Integer deviceNo = Integer.parseInt(motion.getDevice());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceNo);
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (null == shuttleProtocol) {
+ return false;
+ }
+
+ //鑾峰彇灏忚溅鑺傜偣
+ List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleProtocol.getShuttleNo(), lev);
+ List<List<MapNode>> map = navigateMapData.getJsonData(NavigationMapType.DFX.id, null, shuttlePoints);
+
+ for (NavigateNode node : nodes) {
+ List<MapNode> listX = map.get(node.getX());
+ MapNode mapNode = listX.get(node.getY());
+ if (lock) {//妫�娴嬫槸鍚﹂攣瀹�
+ if (mapNode.getValue() != -999) {
+ return false;//璺緞鏈攣瀹�
+ }
+ }else {//妫�娴嬫槸鍚︽湭閿佸畾
+ if(mapNode.getValue() == -999) {
+ return false;//璺緞宸查攣瀹�
+ }
+ }
+ }
+ return true;
+ }
+
+}
--
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