From 69e1880e5486ebc62da4806642ca817afda9c84c Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 05 十月 2023 14:09:45 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/utils/Utils.java | 209 ++++++++++++++--------------------------------------
1 files changed, 57 insertions(+), 152 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index 041ec0a..72821fa 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -4,7 +4,9 @@
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.common.model.NavigateNode;
@@ -13,6 +15,7 @@
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
+import com.zy.common.utils.ShuttleDispatchUtils;
import com.zy.core.Slave;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
@@ -353,29 +356,6 @@
return locNo;
}
- //妤煎眰杞崲瀵瑰簲鍑哄叆搴撶珯鐐瑰簱浣嶅彿
- public static String levToOutInStaLocNo(Integer lev) {
- String locNo = null;
- if (lev >= 2) {
- lev++;
- }
- switch (lev) {
- case 1:
- locNo = "1800201";
- break;
- case 3:
- locNo = "1800202";
- break;
- case 4:
- locNo = "1800203";
- break;
- case 5:
- locNo = "1800204";
- break;
- }
- return locNo;
- }
-
public static void main(String[] args) {
System.out.println(JSON.toJSONString(getGroupOutsideLoc("0200101")));
}
@@ -414,6 +394,7 @@
//鑾峰彇闄ょ櫧鍚嶅崟澶栫殑鎸囧畾妤煎眰鍏ㄩ儴绌挎杞y鍧愭爣鐐�
public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
+ BasShuttleService basShuttleService = SpringUtils.getBean(BasShuttleService.class);
SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
ArrayList<int[]> list = new ArrayList<>();
for (ShuttleSlave slave : slaveProperties.getShuttle()) {
@@ -431,11 +412,19 @@
continue;
}
- if (shuttleProtocol.getCurrentLocNo() == null) {
- continue;
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+
+ if (currentLocNo == null) {
+ //灏忚溅娌℃湁搴撲綅鍙锋暟鎹紝浠庢暟鎹簱涓彇
+ BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
+ if (basShuttle == null || basShuttle.getPoint() == null) {
+ continue;
+ }
+ NyShuttleProtocol.NyShuttlePointClass shuttlePoint = JSON.parseObject(basShuttle.getPoint(), NyShuttleProtocol.NyShuttlePointClass.class);
+ currentLocNo = NavigatePositionConvert.nyXyzToLocNo(shuttlePoint.getX(), shuttlePoint.getY(), shuttlePoint.getZ());
}
- if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
+ if (lev != Utils.getLev(currentLocNo)) {
continue;//妤煎眰涓嶅悓
}
@@ -445,102 +434,19 @@
return list;
}
- //妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
- public static boolean checkShuttlePath(List<NavigateNode> nodes, Integer shuttleId) {
- boolean flag = false;
- int shuttleX = -1;
- int shuttleY = -1;
- int shuttleZ = -1;
-
- LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
-
- if (nodes == null) {
- return false;
- }
- if (nodes.size() == 0) {
- return false;
- }
- NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());//鑾峰彇鍦板浘鏁版嵁
- int[][] data = mapData.getData(-1, null, Utils.getShuttlePoints(shuttleId, nodes.get(0).getZ()));
- for (NavigateNode node : nodes) {
- int x = node.getX();
- int y = node.getY();
- if (data[x][y] == 66) {//鍒ゆ柇璇ヨ矾寰勬槸鍚︽湁灏忚溅
- flag = true;//瀛樺湪灏忚溅
- shuttleX = x;
- shuttleY = y;
- shuttleZ = node.getZ();
- break;
- }
- }
-
- if (flag) {
- //妫�娴嬪埌璺緞瀛樺湪鍏朵粬灏忚溅
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬�
-
- //鑾峰彇灏忚溅鍧愭爣浜岀淮鐮�
- Short shuttlePosition = NavigatePositionConvert.xyToPosition(shuttleX, shuttleY, shuttleZ);
- LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttlePosition));
-
- //鑾峰彇灏忚溅绾跨▼
- SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
- ShuttleThread currentShuttleThread = null;
- for (ShuttleSlave slave : slaveProperties.getShuttle()) {
- //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
- if (shuttleThread == null) {
- continue;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if (shuttleProtocol.getCurrentCode().intValue() == Integer.parseInt(shuttleLocMast.getQrCodeValue())) {
- //灏忚溅鍧愭爣鍜岀嚎绋嬭幏鍙栫殑灏忚溅鍧愭爣涓�鑷�
- currentShuttleThread = shuttleThread;
- break;
- }
- }
-
- if (currentShuttleThread == null) {
- //娌℃壘鍒板皬杞�
- return false;
- }
-
- ShuttleProtocol shuttleProtocol = currentShuttleThread.getShuttleProtocol();
- if (!shuttleProtocol.isIdle()) {
- return false;//琚皟搴︾殑灏忚溅澶勪簬宸ヤ綔鐘舵�侊紝绂佹瑙﹀彂閬胯浠诲姟
- }
-
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
- ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(shuttleZ, shuttleId, currentShuttleThread, null);//shuttleId鎼滅储鏃堕渶瑕佹帓闄ょ殑杞﹁締id锛宑urrentShuttleThread鏄渶瑕佽璋冨害鐨勮溅杈嗙嚎绋�
-
- if (assignCommand == null) {
- return false;
- }
-
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
-
- return false;
- }
-
- return true;
- }
-
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰繑鍥炵Щ鍔ㄥ皬杞︾殑鍛戒护
- public static ShuttleAssignCommand searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, ShuttleThread shuttleThread, String startLocNo) {
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
+ public static boolean searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, NyShuttleThread shuttleThread) {
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
MainServiceImpl mainServiceImpl = SpringUtils.getBean(MainServiceImpl.class);
CommonService commonService = SpringUtils.getBean(CommonService.class);
+ ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
if (shuttleThread == null) {
- return null;
+ return false;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
- return null;
+ return false;
}
NavigateMapData mapData = new NavigateMapData(z);//鑾峰彇鍦板浘鏁版嵁
@@ -549,9 +455,9 @@
int distY = -1;
int distX = -1;
int distZ = -1;
- for (int y = 3; y <= 25; y++) {
+ for (int y = 20; y <= 56; y++) {
boolean searchFlag = true;
- for (int x = 20; x <= 23; x++) {
+ for (int x = 10; x <= 11; x++) {
if (data[x][y] < 0 || data[x][y] == 66) {
searchFlag = false;//璇ュ贩閬撴湁绂佺敤鑺傜偣鎴栨湁灏忚溅
break;
@@ -561,7 +467,7 @@
if (searchFlag) {
//鎼滅储鍑虹┖宸烽亾
distY = y;
- distX = 20;
+ distX = 11;
distZ = z;
break;
}
@@ -569,44 +475,43 @@
if (distY != -1) {
- //鑾峰彇閬胯鍧愭爣浜岀淮鐮�
- Short distPosition = NavigatePositionConvert.xyToPosition(distX, distY, distZ);
- LocMast distLocMast = locMastService.queryByQrCode(String.valueOf(distPosition));
+ //鑾峰彇閬胯搴撲綅
+ String distLocNo = NavigatePositionConvert.xyzToLocNo(distX, distY, distZ);
+ LocMast distLocMast = locMastService.queryByLoc(distLocNo);
if (distLocMast == null) {
- return null;
+ return false;
}
- if (startLocNo == null) {
- //鑾峰彇灏忚溅鍧愭爣浜岀淮鐮�
- LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttleProtocol.getCurrentCode()));
- if (shuttleLocMast == null) {
- return null;
- }
- startLocNo = shuttleLocMast.getLocNo();
- }
-
- //鍒涘缓鍒嗛厤鍛戒护
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
- assignCommand.setTaskNo((short) commonService.getWorkNo(7));//浠诲姟鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.AVOID.id.shortValue());//閬胯浠诲姟
- assignCommand.setSourceLocNo(startLocNo);//婧愬簱浣�
-
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(distLocMast.getLocNo());
- //鐩爣搴撲綅
- assignCommand.setLocNo(distLocMast.getLocNo());
-
- //灏忚溅绉诲姩鍒扮洰鏍囦綅缃�
- List<ShuttleCommand> commands = mainServiceImpl.shuttleAssignCommand(startLocNo, distLocMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- if (commands == null) {
- return null;
- }
-
-// assignCommand.setCommands(commands);
- return assignCommand;
+ //璋冨害灏忚溅鍒伴伩璁╀綅缃�
+ return shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(7), distLocNo, shuttleProtocol.getShuttleNo().intValue());
}
- return null;
+ return false;
+ }
+
+ //妫�娴嬫ゼ灞傛槸鍚︽湁绌挎杞�
+ public static boolean checkLevHasShuttle(Integer lev) {
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ continue;
+ }
+
+ if (lev == Utils.getLev(currentLocNo)) {
+ return true;//鎸囧畾妤煎眰鏈夌┛姊溅
+ }
+ }
+
+ return false;//鎸囧畾妤煎眰娌℃湁绌挎杞�
}
}
--
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