From 4e1a8e484888b3d3f28dc9629904e6e54d90ebc5 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 28 七月 2023 16:26:40 +0800
Subject: [PATCH] 穿梭车命令封装
---
src/main/java/com/zy/common/utils/NavigateMapData.java | 237 +++++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 197 insertions(+), 40 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index 38e2a3f..3db31d9 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -2,30 +2,44 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasMap;
+import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.LocMastService;
+import com.zy.common.model.MapNode;
+import com.zy.common.model.NavigateNode;
+import com.zy.common.model.enums.NavigationMapType;
import com.zy.core.enums.ShuttleTaskModeType;
+import org.springframework.stereotype.Component;
import java.io.*;
import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
/**
* A*绠楁硶鍦板浘鑾峰彇绫�
*/
+@Component
public class NavigateMapData {
- public int[][] getData() {
- return getData(ShuttleTaskModeType.PAK_IN.id);
+ private Integer lev;//鍦板浘妤煎眰
+
+ public NavigateMapData() {
+ this.lev = 1;
}
- public int[][] getData(Integer mapType) {
+ public NavigateMapData(Integer lev) {
+ this.lev = lev;
+ }
+
+ public int[][] getData() {
+ return getData(NavigationMapType.NONE.id, null, null);//榛樿璇诲彇鏃犺繃婊ょ殑鍏ㄩ儴鍦板浘鏁版嵁
+ }
+
+ public int[][] getData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
try {
- String mapFilename = "";
- if (mapType == ShuttleTaskModeType.PAK_IN.id) {
- //鍏ュ簱鍦板浘
- mapFilename = "mapIn.json";
- }else {
- //鍑哄簱鍦板浘
- mapFilename = "mapOut.json";
- }
+ String mapFilename = "map_" + lev + ".json";
String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
File file = new File(fileName);
@@ -41,16 +55,15 @@
//瑙ｆ瀽json鍦板浘鏁版嵁
ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
- int[][] map = new int[arrayList.size()][];
+ List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
+ int[][] map = new int[lists.size()][];
int j = 0;
- for (Object obj : arrayList) {
- ArrayList list = JSON.parseObject(obj.toString(), ArrayList.class);
+ for (List<MapNode> list : lists) {
int[] tmp = new int[list.size()];
int i = 0;
- for (Object o : list) {
- JSONObject jsonObject = JSON.parseObject(o.toString());
+ for (MapNode mapNode : list) {
//灏嗘暟鎹坊鍔犺繘浜岀淮鏁扮粍
- tmp[i++] = Integer.parseInt(jsonObject.get("value").toString());
+ tmp[i++] = mapNode.getValue();
}
//鏁版嵁娣诲姞杩涗竴缁存暟缁�
map[j++] = tmp;
@@ -66,17 +79,46 @@
return null;
}
- //鑾峰彇JSON鏍煎紡鏁版嵁
- public ArrayList<ArrayList<JSONObject>> getJsonData(Integer mapType) {
- try {
- String mapFilename = "";
- if (mapType == ShuttleTaskModeType.PAK_IN.id) {
- //鍏ュ簱鍦板浘
- mapFilename = "mapIn.json";
- }else {
- //鍑哄簱鍦板浘
- mapFilename = "mapOut.json";
+ /**
+ * 灏濊瘯浠巖edis鑾峰彇鏁版嵁
+ */
+ public int[][] getDataFromRedis(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ Object o = redisUtil.get("realtimeBasMap_" + lev);
+ if (o == null) {
+ return null;
+ }
+
+ BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
+ return this.getDataFormString(basMap.getData(), mapType, whitePoints, shuttlePoints);
+ }
+
+ /**
+ * 浠嶭ist鏁版嵁涓幏鍙栧湴鍥�
+ */
+ public int[][] getDataFormString(String data, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
+ List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
+ 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;
+ }
+
+ //鑾峰彇JSON鏍煎紡鏁版嵁
+ public List<List<MapNode>> getJsonData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ try {
+ String mapFilename = "map_" + lev + ".json";
String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
File file = new File(fileName);
@@ -90,22 +132,11 @@
}
br.close();
- //杩斿洖鐨勭粨鏋滈泦
- ArrayList<ArrayList<JSONObject>> returnLists = new ArrayList<>();
-
//瑙ｆ瀽json鍦板浘鏁版嵁
ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
- for (Object obj : arrayList) {
- ArrayList list = JSON.parseObject(obj.toString(), ArrayList.class);
- ArrayList<JSONObject> maps = new ArrayList<>();
- for (Object o : list) {
- JSONObject jsonObject = JSON.parseObject(o.toString());
- maps.add(jsonObject);
- }
- returnLists.add(maps);
- }
+ List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
- return returnLists;
+ return lists;
} else {
System.out.println("鏂囦欢涓嶅瓨鍦�!");
}
@@ -115,4 +146,130 @@
return null;
}
+ /**
+ * 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
+ *
+ * @param whitePoints 鐧藉悕鍗曡妭鐐癸紝涓嶉渶瑕佽杩囨护
+ * @param shuttlePoints 绌挎杞﹁妭鐐癸紝闇�瑕佸姞杞借繘鍦板浘
+ */
+ public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ List<List<MapNode>> lists = new ArrayList<>();
+
+ //閲嶅缓鏁版嵁鏍煎紡
+ for (int i = 0; i < arrayList.size(); i++) {
+ Object obj = arrayList.get(i);
+ List<MapNode> list = JSON.parseArray(obj.toString(), MapNode.class);
+ for (int j = 0; j < list.size(); j++) {
+ MapNode mapNode = list.get(j);
+ list.set(j, mapNode);
+ }
+ lists.add(list);
+ }
+
+ //杩囨护鏁版嵁
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ //鑾峰彇褰撳墠妤煎眰搴撲綅鏁版嵁
+ List<LocMast> locMasts = locMastService.selectLocByLev(lev);
+ for (LocMast locMast : locMasts) {
+ Integer row = locMast.getRow1();
+ Integer bay = locMast.getBay1();
+
+ boolean whiteFlag = false;//榛樿涓嶅瓨鍦ㄧ櫧鍚嶅崟
+ if (whitePoints != null) {
+ for (int[] whitePoint : whitePoints) {
+ if (whitePoint[0] == row && whitePoint[1] == bay) {
+ //瀛樺湪鐧藉悕鍗�
+ whiteFlag = true;
+ break;
+ }
+ }
+ }
+ if (whiteFlag) {
+ continue;//瀛樺湪鐧藉悕鍗曪紝涓嶆墽琛屼笅鍒楄繃婊ゆ柟妗�
+ }
+
+
+ List<MapNode> list = lists.get(row);
+ MapNode mapNode = list.get(bay);
+
+ if (mapType == NavigationMapType.NONE.id) {
+ //涓嶈繃婊や换浣曟暟鎹�
+ } else if (mapType == NavigationMapType.DFX.id) {
+ //杞﹁締鏈夎揣
+ //璇诲彇瀵瑰簲搴撲綅鏁版嵁锛屽皢DFX搴撲綅鐘舵�佺殑鑺傜偣缃负-1(闅滅鐗�)
+ if (locMast.getLocSts().equals("F") || locMast.getLocSts().equals("D") || locMast.getLocSts().equals("X")) {
+ mapNode.setValue(-1);//绂佺敤鑺傜偣
+ }
+ } else if (mapType == NavigationMapType.NORMAL.id) {
+ //杩囨护搴撲綅鐘舵�乆
+ if (locMast.getLocSts().equals("X")) {
+ mapNode.setValue(-1);//绂佺敤鑺傜偣
+ }
+ }
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
+ }
+
+ //鍔犺浇杞﹁締鍧愭爣鍒板湴鍥句腑
+ if (shuttlePoints != null) {
+ for (int[] points : shuttlePoints) {
+ int x = points[0];
+ int y = points[1];
+ List<MapNode> list = lists.get(x);
+ MapNode mapNode = list.get(y);
+ mapNode.setValue(66);//璁剧疆涓鸿溅杈嗕唬鐮�66
+ //鏇存柊list
+ list.set(y, mapNode);
+ lists.set(x, list);
+ }
+ }
+
+ return lists;
+ }
+
+ /**
+ * 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 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
+
+ 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 {
+ if (node.getX() == 11 || node.getX() == 19) {
+ mapNode.setValue(3);//鎭㈠搴撲綅锛屾瘝杞ㄩ亾
+ }else {
+ mapNode.setValue(0);//鎭㈠搴撲綅锛屾櫘閫氬簱浣�
+ }
+ }
+
+ 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;
+ }
+
}
--
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