From 58eaf5e73359f7164525d9c50f6e5bf82b247e32 Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期四, 24 四月 2025 09:10:58 +0800
Subject: [PATCH] 初步调试
---
src/main/java/com/zy/common/utils/NavigateMapData.java | 372 ++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 281 insertions(+), 91 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..94b016c 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -1,118 +1,308 @@
package com.zy.common.utils;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
-import com.zy.core.enums.ShuttleTaskModeType;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasMap;
+import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.BasMapService;
+import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.model.MapNode;
+import com.zy.common.model.enums.NavigationMapType;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.MapNodeType;
+import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.ForkLiftSlave;
+import com.zy.core.model.protocol.ForkLiftStaProtocol;
+import com.zy.core.properties.SlaveProperties;
+import com.zy.core.thread.ForkLiftThread;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
import java.io.*;
import java.util.ArrayList;
+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);
- }
+ @Autowired
+ private SlaveProperties slaveProperties;
+ @Autowired
+ private BasMapService basMapService;
- public int[][] getData(Integer mapType) {
+ public int[][] getData(Integer lev, 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";
+ BasMap basMap = basMapService.selectLatestMap(lev);
+ String originData = basMap.getOriginData();
+
+ //瑙ｆ瀽json鍦板浘鏁版嵁
+ ArrayList arrayList = JSON.parseObject(originData, 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;
}
- String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
- File file = new File(fileName);
- StringBuffer stringBuffer = new StringBuffer();
- if (file.isFile() && file.exists()) {
- InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
- BufferedReader br = new BufferedReader(isr);
- String lineTxt = null;
- while ((lineTxt = br.readLine()) != null) {
- stringBuffer.append(lineTxt);
- }
- br.close();
-
- //瑙ｆ瀽json鍦板浘鏁版嵁
- ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
- int[][] map = new int[arrayList.size()][];
- int j = 0;
- for (Object obj : arrayList) {
- ArrayList list = JSON.parseObject(obj.toString(), ArrayList.class);
- int[] tmp = new int[list.size()];
- int i = 0;
- for (Object o : list) {
- JSONObject jsonObject = JSON.parseObject(o.toString());
- //灏嗘暟鎹坊鍔犺繘浜岀淮鏁扮粍
- tmp[i++] = Integer.parseInt(jsonObject.get("value").toString());
- }
- //鏁版嵁娣诲姞杩涗竴缁存暟缁�
- map[j++] = tmp;
- }
-
- return map;
- } else {
- System.out.println("鏂囦欢涓嶅瓨鍦�!");
- }
- } catch (IOException ioException) {
- ioException.printStackTrace();
+ return map;
+ } catch (Exception e) {
+ e.printStackTrace();
}
return null;
+ }
+
+ /**
+ * 灏濊瘯浠巖edis鑾峰彇鏁版嵁
+ */
+ public int[][] getDataFromRedis(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ Object o = redisUtil.get(RedisKeyType.MAP.key + lev);
+ if (o == null) {
+ return null;
+ }
+
+ BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
+ return this.getDataFormString(lev, basMap.getData(), mapType, whitePoints, shuttlePoints);
+ }
+
+ /**
+ * 浠嶭ist鏁版嵁涓幏鍙栧湴鍥�
+ */
+ public int[][] getDataFormString(Integer lev, 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 ArrayList<ArrayList<JSONObject>> getJsonData(Integer mapType) {
+ public List<List<MapNode>> getJsonData(Integer lev, 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 fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
- File file = new File(fileName);
- StringBuffer stringBuffer = new StringBuffer();
- if (file.isFile() && file.exists()) {
- InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
- BufferedReader br = new BufferedReader(isr);
- String lineTxt = null;
- while ((lineTxt = br.readLine()) != null) {
- stringBuffer.append(lineTxt);
- }
- 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);
- }
-
- return returnLists;
- } else {
- System.out.println("鏂囦欢涓嶅瓨鍦�!");
- }
- } catch (IOException ioException) {
- ioException.printStackTrace();
+ BasMap basMap = basMapService.selectLatestMap(lev);
+ String originData = basMap.getOriginData();
+ //瑙ｆ瀽json鍦板浘鏁版嵁
+ ArrayList arrayList = JSON.parseObject(originData, ArrayList.class);
+ //閲嶅缓鏁版嵁鏍煎紡
+ List<List<MapNode>> lists = rebuildData(arrayList);
+ return lists;
+ } catch (Exception e) {
+ e.printStackTrace();
}
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) {
+ //閲嶅缓鏁版嵁鏍煎紡
+ List<List<MapNode>> lists = rebuildData(arrayList);
+
+ //杞藉叆搴撲綅淇℃伅
+ lists = loadLocMast(mapType, lists, lev, whitePoints);
+
+ //鍔犺浇杞﹁締
+ lists = loadShuttle(lists, shuttlePoints);
+
+// //鍔犺浇璐у弶鎻愬崌鏈虹偣浣�
+// lists = loadForkLift(lists, mapType, lev);
+
+ //鍔犺浇鐧藉悕鍗曡妭鐐�
+ lists = loadWhite(lists, lev, whitePoints);
+
+ return lists;
+ }
+
+ //閲嶅缓鏁版嵁鏍煎紡
+ public List<List<MapNode>> rebuildData(List arrayList) {
+ 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);
+ }
+
+ return lists;
+ }
+
+ //杞藉叆搴撲綅淇℃伅
+ public List<List<MapNode>> loadLocMast(Integer mapType, List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
+ //杩囨护鏁版嵁
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ try {
+ //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")
+ || locMast.getLocSts().equals("R")
+ || locMast.getLocSts().equals("P")
+ ) {
+ mapNode.setValue(MapNodeType.DISABLE.id);//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(MapNodeType.DISABLE.id);//绂佺敤鑺傜偣
+ }
+ }
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
+ }
+ }catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ return lists;
+ }
+
+ //鍔犺浇杞﹁締
+ public List<List<MapNode>> loadShuttle(List<List<MapNode>> lists, List<int[]> shuttlePoints) {
+ //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(MapNodeType.CAR.id);//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;
+ }
+
+ //鍔犺浇鐧藉悕鍗曡妭鐐�
+ public List<List<MapNode>> loadWhite(List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
+ //鍔犺浇鐧藉悕鍗曡妭鐐�
+ if (whitePoints != null) {
+ List<List<MapNode>> realMap = getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘
+ for (int[] points : whitePoints) {
+ //鑾峰彇鍘熷鑺傜偣鏁版嵁
+ int x = points[0];
+ int y = points[1];
+ List<MapNode> rows = realMap.get(x);
+ MapNode col = rows.get(y);
+
+ List<MapNode> list = lists.get(x);
+ MapNode mapNode = list.get(y);
+ mapNode.setValue(col.getValue());//鎭㈠鍘熷鑺傜偣
+
+ //鏇存柊list
+ list.set(y, mapNode);
+ lists.set(x, list);
+ }
+ }
+ return lists;
+ }
+
+ //鍔犺浇璐у弶鎻愬崌鏈虹偣浣�
+ public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer mapType, Integer lev) {
+ try {
+ //鍔犺浇璐у弶鎻愬崌鏈烘斁璐х偣浣嶆暟鎹�
+ for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
+ if (forkLiftThread == null) {
+ continue;
+ }
+
+ for (ForkLiftStaProtocol staProtocol : forkLiftThread.getForkLiftStaProtocols()) {
+ if (staProtocol.getLev() != lev) {
+ continue;
+ }
+ int row = Utils.getRow(staProtocol.getLocNo());
+ int bay = Utils.getBay(staProtocol.getLocNo());
+
+ List<MapNode> list = lists.get(row);
+ MapNode mapNode = list.get(bay);
+
+ if (mapType == NavigationMapType.DFX.id) {
+ //杞﹁締鏈夎揣
+ if (staProtocol.getHasTray() != null && staProtocol.getHasTray()) {
+ mapNode.setValue(MapNodeType.DISABLE.id);
+ }
+ } else {
+ if (staProtocol.getHasCar() != null && staProtocol.getHasCar()) {
+ mapNode.setValue(MapNodeType.CAR.id);
+ }
+ }
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
+ }
+
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return lists;
+ }
+
}
--
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