From 7635dc25bd2a4d565df496b2d96354639966768d Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期四, 25 九月 2025 11:09:44 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateMapData.java | 521 ++++++++++++++++++++++++++++++---------------------------
1 files changed, 273 insertions(+), 248 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index 6e9a3a8..9ad47cb 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -1,28 +1,40 @@
package com.zy.common.utils;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
+import com.core.exception.CoolException;
+import com.fasterxml.jackson.databind.ObjectMapper;
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;
+import com.zy.common.model.NavigateNode;
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.ShuttleCommandModeType;
import com.zy.core.enums.SlaveType;
-import com.zy.core.model.ForkLiftSlave;
+import com.zy.core.model.TrafficControlDataModel;
+import com.zy.core.model.command.ShuttleAssignCommand;
+import com.zy.core.model.command.ShuttleCommand;
+import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.protocol.ForkLiftStaProtocol;
-import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
+import com.zy.core.thread.TrafficControlThread;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.core.io.ClassPathResource;
import org.springframework.stereotype.Component;
-import java.io.*;
+import java.io.IOException;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
+import java.util.Map;
/**
* A*绠楁硶鍦板浘鑾峰彇绫�
@@ -31,103 +43,32 @@
public class NavigateMapData {
@Autowired
- private SlaveProperties slaveProperties;
-
- public int[][] getData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
- try {
-// RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
-// Object object = redisUtil.get(RedisKeyType.BASIC_MAP.key + lev);
-// if (object == null) {
-// return null;
-// }
-//
-// //瑙ｆ瀽json鍦板浘鏁版嵁
-// ArrayList arrayList = JSON.parseObject(object.toString(), 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;
-
- String mapFilename = "map_" + lev + ".json";
- ClassPathResource classPathResource = new ClassPathResource(mapFilename);
- InputStream inputStream = classPathResource.getInputStream();
- byte[] buffer = new byte[inputStream.available()];
- inputStream.read(buffer);
- File file = File.createTempFile("prefix", "suffix");
- try (OutputStream outStream = new FileOutputStream(file)) {
- outStream.write(buffer);
- }
-
- 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);
- 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;
- }
-
- if (!file.delete()) {
- System.out.println("涓存椂鏂囦欢鍒犻櫎澶辫触");
- }
- return map;
- } else {
- System.out.println("鏂囦欢涓嶅瓨鍦�!");
- }
- } catch (Exception e) {
- e.printStackTrace();
- }
- return null;
- }
+ private RedisUtil redisUtil;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
+ @Autowired
+ private BasMapService basMapService;
+ @Autowired
+ private ObjectMapper objectMapper;
/**
* 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) {
+ public int[][] getDataFromRedis(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
+ if (data == null) {
return null;
}
- BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
- return this.getDataFormString(lev, basMap.getData(), mapType, whitePoints, shuttlePoints);
+ List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
+ return this.getDataFormString(lev, arrayList, 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) {
- 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
+ public int[][] getDataFormString(Integer lev, List<List<MapNode>> arrayList, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ 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) {
@@ -144,109 +85,54 @@
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 {
-//// RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
-//// Object object = redisUtil.get(RedisKeyType.BASIC_MAP.key + lev);
-//// if (object == null) {
-//// return null;
-//// }
-////
-//// //瑙ｆ瀽json鍦板浘鏁版嵁
-//// ArrayList arrayList = JSON.parseObject(object.toString(), ArrayList.class);
-//// List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
-//// return lists;
-//
-//
-// String mapFilename = "map_" + lev + ".json";
-// ClassPathResource classPathResource = new ClassPathResource(mapFilename);
-// InputStream inputStream = classPathResource.getInputStream();
-// byte[] buffer = new byte[inputStream.available()];
-// inputStream.read(buffer);
-// File file = File.createTempFile("prefix","suffix");
-// try (OutputStream outStream = new FileOutputStream(file)) {
-// outStream.write(buffer);
-// }
-//
-// 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);
-// List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
-//
-// if (!file.delete()) {
-// System.out.println("涓存椂鏂囦欢鍒犻櫎澶辫触");
-// }
-//
-// return lists;
-// } else {
-// System.out.println("鏂囦欢涓嶅瓨鍦�!");
-// }
-// } catch (Exception e) {
-// e.printStackTrace();
-// }
-// return null;
-// }
-
- //鑾峰彇JSON鏍煎紡鏁版嵁
- public List<List<MapNode>> getJsonData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ //鑾峰彇瀹炴椂鍦板浘-JSON鏍煎紡鏁版嵁
+ public List<List<MapNode>> getJsonData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
try {
-// RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
-// Object object = redisUtil.get(RedisKeyType.BASIC_MAP.key + lev);
-// if (object == null) {
-// return null;
-// }
-//
-// //瑙ｆ瀽json鍦板浘鏁版嵁
-// ArrayList arrayList = JSON.parseObject(object.toString(), ArrayList.class);
-// List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
-// return lists;
-
- String mapFilename = "map_" + lev + ".json";
- ClassPathResource classPathResource = new ClassPathResource(mapFilename);
- InputStream inputStream = classPathResource.getInputStream();
- byte[] buffer = new byte[inputStream.available()];
- inputStream.read(buffer);
- File file = File.createTempFile("prefix","suffix");
- try (OutputStream outStream = new FileOutputStream(file)) {
- outStream.write(buffer);
+ Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
+ if (data == null) {
+ return null;
}
- 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);
- List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
-
- if (!file.delete()) {
- System.out.println("涓存椂鏂囦欢鍒犻櫎澶辫触");
- }
-
- return lists;
- } else {
- System.out.println("鏂囦欢涓嶅瓨鍦�!");
- }
+ List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
+ List<List<MapNode>> lists = filterMap(mapTypes, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
+ return lists;
} catch (Exception e) {
e.printStackTrace();
}
return null;
+ }
+
+ //鑾峰彇鍘熷鍦板浘-JSON鏍煎紡鏁版嵁
+ public List<List<MapNode>> getJsonOriginData(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);
+ //閲嶅缓鏁版嵁鏍煎紡
+ List<List<MapNode>> lists = rebuildData(arrayList);
+ return lists;
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ 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;
}
/**
@@ -256,7 +142,45 @@
* @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<List<MapNode>> lists, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ List<NavigationMapType> locMapType = new ArrayList<>();
+ 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);
+ }
+
+ if (mapType.equals(NavigationMapType.SHUTTLE)) {
+ //鍔犺浇杞﹁締
+ lists = loadShuttle(lists, shuttlePoints);
+ }
+
+ if (mapType.equals(NavigationMapType.LIFT)) {
+ //鍔犺浇璐у弶鎻愬崌鏈虹偣浣�
+ lists = loadForkLift(lists, lev);
+ }
+
+ if(mapType.equals(NavigationMapType.PATH_LOCK)) {
+ //鍔犺浇璺緞閿�
+ lists = loadPathLock(lists, lev);
+ }
+
+ if(mapType.equals(NavigationMapType.TRAFFIC_CONTROL)) {
+ //鍔犺浇浜ら�氱鍒�
+ lists = loadTrafficControl(lists, 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
@@ -270,57 +194,74 @@
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);
- //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();
+ 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;
+ 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
+ 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�
}
- } 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);
+
+ 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
+ }
+ }
+
+ mapNode.setLocSts(locMast.getLocSts());
+ mapNode.setLocNo(locMast.getLocNo());
+
+ //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) {
@@ -335,9 +276,14 @@
}
}
+ 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
+ List<List<MapNode>> realMap = getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), 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];
@@ -354,39 +300,118 @@
lists.set(x, list);
}
}
+ return lists;
+ }
- //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;
+ //鍔犺浇璐у弶鎻愬崌鏈虹偣浣�
+ 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�
+ 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;
+ }
+
+ 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;
+ }
+
+ //鍔犺浇璺緞閿�
+ public List<List<MapNode>> loadPathLock(List<List<MapNode>> lists, Integer lev) {
+ try {
+ HashMap<String, Object> lockMap = new HashMap<>();
+ Object o = redisUtil.get(RedisKeyType.LOCK_MAP_NODES.key + lev);
+ if (o != null) {
+ lockMap = (HashMap<String, Object>) o;
}
- for (ForkLiftStaProtocol staProtocol : forkLiftThread.getForkLiftStaProtocols()) {
- int row = Utils.getRow(staProtocol.getLocNo());
- int bay = Utils.getBay(staProtocol.getLocNo());
+ for (Map.Entry<String, Object> entry : lockMap.entrySet()) {
+ String key = entry.getKey();
+ int row = Utils.getRow(key);
+ int bay = Utils.getBay(key);
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);
- }
- }
+ //鑺傜偣璁剧疆鎴愯矾寰勯攣
+ mapNode.setValue(MapNodeType.LOCK.id);
//鏇存柊list
list.set(bay, mapNode);
lists.set(row, list);
}
-
+ } catch (Exception e) {
+ e.printStackTrace();
}
+ return lists;
+ }
+ //鍔犺浇浜ら�氱鍒�
+ public List<List<MapNode>> loadTrafficControl(List<List<MapNode>> lists, Integer lev) {
+ try {
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ if (trafficControlThread == null) {
+ throw new CoolException("init traffic control thread error");
+ }
+
+ List<TrafficControlDataModel> trafficList = trafficControlThread.getAllTrafficControl();
+ for (TrafficControlDataModel trafficControlDataModel : trafficList) {
+ List<NavigateNode> totalNodeList = trafficControlDataModel.getTotalNodeList();
+ NavigateNode startNode = totalNodeList.get(0);
+ if (startNode.getZ() != lev) {
+ continue;
+ }
+
+ for (NavigateNode node : totalNodeList) {
+ int row = node.getX();
+ int bay = node.getY();
+
+ List<MapNode> list = lists.get(row);
+ MapNode mapNode = list.get(bay);
+
+ //鑺傜偣璁剧疆鎴怐isable
+ mapNode.setValue(MapNodeType.DISABLE.id);
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
return lists;
}
--
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