From 4453cdecbc6e7a925ae76e3223418654f1cf0b18 Mon Sep 17 00:00:00 2001
From: taisheng <taisheng@qq.com>
Date: 星期二, 22 四月 2025 16:01:15 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 87 ++++++++++++++++++++++------
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 22 +++---
src/main/java/com/zy/common/utils/NavigateMapData.java | 17 +++++
3 files changed, 95 insertions(+), 31 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 4588883..c756228 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -542,6 +542,15 @@
return false;
}
+ //妫�娴嬮殰纰嶇墿杞�
+ boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
+ add(shuttleProtocol.getShuttleNo());
+ }});
+ if (checkObstacle) {
+ News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
+ return false;
+ }
+
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//灏忚溅绉诲簱浠诲姟
@@ -567,8 +576,8 @@
return false;
}
- commands.add(0, liftCommand.get(0));
- commands.add(liftCommand2.get(0));
+// commands.add(0, liftCommand.get(0));
+// commands.add(liftCommand2.get(0));
assignCommand.setCommands(commands);
wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鎼繍涓�
@@ -1766,15 +1775,6 @@
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞璁＄畻澶辫触
}
-
-// //妫�娴嬮殰纰嶇墿杞�
-// boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
-// add(shuttleProtocol.getShuttleNo());
-// }});
-// if (checkObstacle) {
-// News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
-// return false;
-// }
assignCommand.setCommands(commands);
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index d19f34b..cf5a6c0 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -115,6 +115,23 @@
return null;
}
+ public int[][] parseJsonDataArr(List<List<MapNode>> lists) {
+ int[][] map = new int[lists.size()][];
+ int j = 0;
+ for (List<MapNode> list : lists) {
+ int[] tmp = new int[list.size()];
+ int i = 0;
+ for (MapNode mapNode : list) {
+ //灏嗘暟鎹坊鍔犺繘浜岀淮鏁扮粍
+ tmp[i++] = mapNode.getValue();
+ }
+ //鏁版嵁娣诲姞杩涗竴缁存暟缁�
+ map[j++] = tmp;
+ }
+
+ return map;
+ }
+
/**
* 杩囨护鍦板浘鏁版嵁
* mapType -1=>鏃犺繃婊わ紝1=銆嬭繃婊ゅ簱浣嶇姸鎬丏FX锛�2=銆嬭繃婊ゅ簱浣嶇姸鎬乆
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 9292a44..4c14010 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -6,8 +6,8 @@
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.utils.Utils;
+import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
-import com.zy.common.model.enums.NavigationMapType;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
@@ -260,19 +260,28 @@
continue;
}
- int nextInt = new Random().nextInt(outerNodes.size());
- NavigateNode randomNode = outerNodes.get(nextInt);
- String randomLocNo = NavigatePositionConvert.nodeToLocNo(randomNode);
- shuttleDispatchUtils.dispatchShuttle(null, randomLocNo, shuttleNo);
+ HashMap<String, Integer> carMap = findCarMap();
+
+ String targetLocNo = null;
+ for (NavigateNode node : outerNodes) {
+ String dispatchLocNo = NavigatePositionConvert.nodeToLocNo(node);
+ if (carMap.containsKey(dispatchLocNo)) {
+ continue;
+ }
+ targetLocNo = dispatchLocNo;
+ break;
+ }
+
+ if(targetLocNo == null) {
+ continue;
+ }
+ shuttleDispatchUtils.dispatchShuttle(null, targetLocNo, shuttleNo);
}
return true;//鍐呭湀涓湁杞�
}
- //鎼滅储鑺傜偣鍐呯殑灏忚溅缂栧彿
- private List<Integer> findNodesCar(List<NavigateNode> nodes) {
- List<Integer> list = new ArrayList<>();
-
+ private HashMap<String, Integer> findCarMap() {
HashMap<String, Integer> carMap = new HashMap<>();
for (ShuttleSlave slave : slaveProperties.getShuttle()) {
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
@@ -290,7 +299,13 @@
carMap.put(currentLocNo, slave.getId());
}
+ return carMap;
+ }
+ //鎼滅储鑺傜偣鍐呯殑灏忚溅缂栧彿
+ private List<Integer> findNodesCar(List<NavigateNode> nodes) {
+ List<Integer> list = new ArrayList<>();
+ HashMap<String, Integer> carMap = findCarMap();
for (NavigateNode node : nodes) {
String locNo = NavigatePositionConvert.nodeToLocNo(node);
if (carMap.containsKey(locNo)) {
@@ -307,8 +322,10 @@
int lev = Utils.getLev(locNo);
int[] pointArr = NavigatePositionConvert.positionToXY(locNo);
NavigateNode currentNode = new NavigateNode(pointArr[0], pointArr[1]);
+ currentNode.setZ(lev);
- int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.NORMAL.id, null, whiteShuttlePointList);
+ List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘
+ int[][] map = navigateMapData.parseJsonDataArr(lists);
int nodeValue = map[pointArr[0]][pointArr[1]];
currentNode.setNodeValue(nodeValue);
@@ -348,7 +365,8 @@
currentNode.setZ(lev);
innerNodes.add(currentNode);
- int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.NORMAL.id, null, whiteShuttlePointList);
+ List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘
+ int[][] map = navigateMapData.parseJsonDataArr(lists);
int nodeValue = map[pointArr[0]][pointArr[1]];
currentNode.setNodeValue(nodeValue);
@@ -358,7 +376,20 @@
if (list.isEmpty()) {
continue;
}
- innerNodes.addAll(list);
+
+ for (NavigateNode node : list) {
+ boolean flag = false;
+ for (int[] shuttlePoint : whiteShuttlePointList) {
+ if(node.getX() == shuttlePoint[0] && node.getY() == shuttlePoint[1]) {
+ flag = true;
+ break;
+ }
+ }
+ if(flag) {
+ continue;
+ }
+ innerNodes.add(node);
+ }
}
return innerNodes;
@@ -389,13 +420,17 @@
NavigateNode node = new NavigateNode(x + innerCircleIdx, y);
node.setNodeValue(map[x + innerCircleIdx][y]);
node.setZ(z);
- nodes.add(node);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
}
if (is_valid(map, x - innerCircleIdx, y)) {
NavigateNode node = new NavigateNode(x - innerCircleIdx, y);
node.setNodeValue(map[x - innerCircleIdx][y]);
node.setZ(z);
- nodes.add(node);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
}
}
@@ -405,14 +440,18 @@
NavigateNode node = new NavigateNode(x, y + innerCircleIdx);
node.setNodeValue(map[x][y + innerCircleIdx]);
node.setZ(z);
- nodes.add(node);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
}
if (is_valid(map, x, y - innerCircleIdx)) {
NavigateNode node = new NavigateNode(x, y - innerCircleIdx);
node.setNodeValue(map[x][y - innerCircleIdx]);
node.setZ(z);
- nodes.add(node);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
}
}
}else if (mapDirection.equals("y")) {//姣嶈建y鏂瑰悜
@@ -422,14 +461,18 @@
NavigateNode node = new NavigateNode(x, y + innerCircleIdx);
node.setNodeValue(map[x][y + innerCircleIdx]);
node.setZ(z);
- nodes.add(node);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
}
if (is_valid(map, x, y - innerCircleIdx)) {
NavigateNode node = new NavigateNode(x, y - innerCircleIdx);
node.setNodeValue(map[x][y - innerCircleIdx]);
node.setZ(z);
- nodes.add(node);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
}
}
@@ -439,13 +482,17 @@
NavigateNode node = new NavigateNode(x + innerCircleIdx, y);
node.setNodeValue(map[x + innerCircleIdx][y]);
node.setZ(z);
- nodes.add(node);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
}
if (is_valid(map, x - innerCircleIdx, y)) {
NavigateNode node = new NavigateNode(x - innerCircleIdx, y);
node.setNodeValue(map[x - innerCircleIdx][y]);
node.setZ(z);
- nodes.add(node);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
}
}
}else {
--
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