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 | 164 ++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 120 insertions(+), 44 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index 8518def..9ad47cb 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -3,6 +3,8 @@
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;
@@ -11,18 +13,28 @@
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.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.thread.ForkLiftThread;
+import com.zy.core.thread.TrafficControlThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
+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�
@@ -31,57 +43,31 @@
public class NavigateMapData {
@Autowired
+ private RedisUtil redisUtil;
+ @Autowired
private DeviceConfigService deviceConfigService;
@Autowired
private BasMapService basMapService;
-
- 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(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) {
- 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;
- } catch (Exception e) {
- e.printStackTrace();
- }
- return null;
- }
+ @Autowired
+ private ObjectMapper objectMapper;
/**
* 灏濊瘯浠巖edis鑾峰彇鏁版嵁
*/
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) {
+ 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(), mapTypes, 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, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
- ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
+ 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;
@@ -99,8 +85,25 @@
return map;
}
- //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 {
+ Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
+ if (data == null) {
+ return null;
+ }
+
+ 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();
@@ -139,12 +142,8 @@
* @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(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);
-
+ 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.NONE);
locMapType.add(NavigationMapType.DFX);
locMapType.add(NavigationMapType.NORMAL);
for (NavigationMapType mapType : mapTypes) {
@@ -158,9 +157,19 @@
lists = loadShuttle(lists, shuttlePoints);
}
- if (mapType.equals(NavigationMapType.SHUTTLE)) {
+ 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);
}
}
@@ -274,7 +283,7 @@
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];
@@ -339,4 +348,71 @@
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 (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);
+
+ //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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