From 73ce8bebcc5d14f3fb62a19ee677abfcdfc776b4 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期六, 19 七月 2025 16:17:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateMapData.java | 74 ++++++++++++++++++++++---------------
1 files changed, 44 insertions(+), 30 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index 0d92ea3..8518def 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -1,10 +1,13 @@
package com.zy.common.utils;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasMap;
+import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasMapService;
+import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
@@ -13,14 +16,11 @@
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;
@@ -31,18 +31,18 @@
public class NavigateMapData {
@Autowired
- private SlaveProperties slaveProperties;
+ private DeviceConfigService deviceConfigService;
@Autowired
private BasMapService basMapService;
- public int[][] getData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ public int[][] getData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
try {
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
+ List<List<MapNode>> lists = filterMap(mapTypes, 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) {
@@ -66,7 +66,7 @@
/**
* 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) {
+ public int[][] getDataFromRedis(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
Object o = redisUtil.get(RedisKeyType.MAP.key + lev);
if (o == null) {
@@ -74,15 +74,15 @@
}
BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
- return this.getDataFormString(lev, basMap.getData(), mapType, whitePoints, shuttlePoints);
+ return this.getDataFormString(lev, basMap.getData(), mapTypes, 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) {
+ public int[][] getDataFormString(Integer lev, String data, List<NavigationMapType> mapTypes, 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
+ List<List<MapNode>> lists = filterMap(mapTypes, 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) {
@@ -139,18 +139,30 @@
* @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) {
+ public List<List<MapNode>> filterMap(List<NavigationMapType> mapTypes, 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);
+ List<NavigationMapType> locMapType = new ArrayList<>();
+ locMapType.add(NavigationMapType.NONE);
+ locMapType.add(NavigationMapType.DFX);
+ locMapType.add(NavigationMapType.NORMAL);
+ for (NavigationMapType mapType : mapTypes) {
+ if(locMapType.contains(mapType)) {
+ //杞藉叆搴撲綅淇℃伅
+ lists = loadLocMast(mapType.id, lists, lev, whitePoints);
+ }
- //鍔犺浇杞﹁締
- lists = loadShuttle(lists, shuttlePoints);
+ if (mapType.equals(NavigationMapType.SHUTTLE)) {
+ //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);
+ if (mapType.equals(NavigationMapType.SHUTTLE)) {
+ //鍔犺浇璐у弶鎻愬崌鏈虹偣浣�
+ lists = loadForkLift(lists, lev);
+ }
+ }
//鍔犺浇鐧藉悕鍗曡妭鐐�
lists = loadWhite(lists, lev, whitePoints);
@@ -283,11 +295,13 @@
}
//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) {
+ public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, 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());
+ List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+ for (DeviceConfig device : forkliftList) {
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
if (forkLiftThread == null) {
continue;
}
@@ -302,16 +316,16 @@
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);
- }
- }
+// 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);
--
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