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/ShuttleOperaUtils.java | 202 +++++++++++++++++++++++++++-----------------------
1 files changed, 109 insertions(+), 93 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 33739d4..c4fe002 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -3,9 +3,7 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
-import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.DeviceConfig;
-import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
@@ -15,6 +13,7 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.MapNodeType;
+import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.ShuttleRunDirection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.command.ShuttleAssignCommand;
@@ -36,11 +35,7 @@
public class ShuttleOperaUtils {
@Autowired
- private BasShuttleService basShuttleService;
- @Autowired
private NavigateUtils navigateUtils;
- @Autowired
- private NavigateMapUtils navigateMapUtils;
@Autowired
private NavigateMapData navigateMapData;
@Autowired
@@ -49,25 +44,53 @@
private ShuttleDispatchUtils shuttleDispatchUtils;
@Autowired
private DeviceConfigService deviceConfigService;
+ @Autowired
+ private RedisUtil redisUtil;
public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
- return getStartToTargetCommands(startLocNo, endLocNo, mapTypes, null, assignCommand, shuttleThread);
+ return getStartToTargetCommands(startLocNo, endLocNo, mapTypes, null, assignCommand, shuttleThread, "move");
}
- public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, String moveType) {
+ return getStartToTargetCommands(startLocNo, endLocNo, mapTypes, null, assignCommand, shuttleThread, moveType);
+ }
+
+ public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, String moveType) {
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
return null;
}
Integer shuttleNo = shuttleProtocol.getShuttleNo();
//鑾峰彇灏忚溅绉诲姩閫熷害
- Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
+ Integer runSpeed = 1000;
+ Object speedObj = redisUtil.get(RedisKeyType.SHUTTLE_SPEED_MAP.key);
+ if (speedObj != null) {
+ HashMap<Integer, Integer> shuttleSpeedMap = (HashMap<Integer, Integer>) speedObj;
+ Integer speed = shuttleSpeedMap.get(shuttleNo);
+ if (speed != null) {
+ runSpeed = speed;
+ }
+ }
+
+ Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
+
+ //灏忚溅(x,y)鍛戒护杩愯鏂瑰悜棰犲��
+ boolean shuttleDirectionReverse = false;
+ if (systemConfigMapObj != null) {
+ HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
+ if (systemConfigMap.get("shuttleDirectionReverse").equals("Y")) {
+ shuttleDirectionReverse = true;
+ }
+ }
+
+ long calcStartTime = System.currentTimeMillis();
List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
if (nodeList == null) {
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
return null;
}
+ News.info("[RCS Debug] Calc path time:{}", (System.currentTimeMillis() - calcStartTime));
List<NavigateNode> allNode = new ArrayList<>();
List<NavigateNode> lockNode = new ArrayList<>();
@@ -77,7 +100,7 @@
if (whites != null) {
boolean flag = false;
for (int[] white : whites) {
- if(white[0] == node.getX() && white[1] == node.getY()) {
+ if (white[0] == node.getX() && white[1] == node.getY()) {
flag = true;
break;
}
@@ -95,97 +118,65 @@
//鑾峰彇鍒嗘璺緞
List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
long endTime = System.currentTimeMillis();
- News.info("getSection path time:{}", (endTime - startTime));
+ News.info("[RCS Debug] getSection path time:{}", (endTime - startTime));
+
+ long startGetSectionCommandTime = System.currentTimeMillis();
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (List<NavigateNode> nodes : data) {
+ for (int i = 0; i < data.size(); i++) {
+ long startGetStartAndEndPathTime = System.currentTimeMillis();
+ List<NavigateNode> nodes = data.get(i);
//寮�濮嬭矾寰�
NavigateNode startPath = nodes.get(0);
-
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
+ News.info("[RCS Debug] getStartAndEndPath idx:{} time:{}", i, (System.currentTimeMillis() - startGetStartAndEndPathTime));
+
+ long startAllDistanceTime = System.currentTimeMillis();
Integer allDistance = navigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ News.info("[RCS Debug] getAllDistance idx:{} time:{}", i, (System.currentTimeMillis() - startAllDistanceTime));
+
+ long startGetPosition = System.currentTimeMillis();
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ News.info("[RCS Debug] xyToPosition idx:{} time:{}", i, (System.currentTimeMillis() - startGetPosition));
+
+ long startGetMoveCommandTime = System.currentTimeMillis();
//鑾峰彇绉诲姩鍛戒护
- ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
+ ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, shuttleDirectionReverse);
+ News.info("[RCS Debug] getMoveCommand idx:{} time:{}", i, (System.currentTimeMillis() - startGetMoveCommandTime));
+
+ if (i + 1 == data.size()) {
+ long startGetInOutLiftTime = System.currentTimeMillis();
+ if (moveType.equals("inLift")) {
+ command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, true, shuttleDirectionReverse);
+ }else if (moveType.equals("outLift")) {
+ command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, false, shuttleDirectionReverse);
+ }
+ News.info("[RCS Debug] getInOutLiftTime idx:{} time:{}", i, (System.currentTimeMillis() - startGetInOutLiftTime));
+ }
+
command.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
commands.add(command);
}
+ News.info("[RCS Debug] getSectionCommand path time:{}", (System.currentTimeMillis() - startGetSectionCommandTime));
assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ assignCommand.setMapTypes(mapTypes);
//灏忚溅绉诲姩杩炵画涓嬪彂鎸囦护
boolean shuttleMoveCommandsContinuously = false;
- Config shuttleMoveCommandsContinuouslyConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleMoveCommandsContinuously"));
- if (shuttleMoveCommandsContinuouslyConfig != null) {
- if (shuttleMoveCommandsContinuouslyConfig.getValue().equals("Y")) {
+ if (systemConfigMapObj != null) {
+ HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
+ String shuttleMoveCommandsContinuouslyConfig = systemConfigMap.get("shuttleMoveCommandsContinuously");
+ if (shuttleMoveCommandsContinuouslyConfig != null && shuttleMoveCommandsContinuouslyConfig.equals("Y")) {
shuttleMoveCommandsContinuously = true;
}
}
assignCommand.setShuttleMoveCommandsContinuously(shuttleMoveCommandsContinuously);
- return commands;
- }
- public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
- NavigateNode startNode = NavigatePositionConvert.locNoToNode(startLocNo);
- NavigateNode endNode = NavigatePositionConvert.locNoToNode(endLocNo);
- List<NavigateNode> unlockPath = new ArrayList<>();
- unlockPath.add(startNode);
- unlockPath.add(endNode);
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- return null;
- }
-
- Integer shuttleNo = shuttleProtocol.getShuttleNo();
- //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�/瑙ｉ攣
- boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(endLocNo), shuttleProtocol.getShuttleNo(), unlockPath, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿�
- if (!lockResult) {
- News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
- shuttleThread.offerSystemMsg("{} dash {} can't find unlock path!", startLocNo, endLocNo);
- return null;//瑙ｉ攣澶辫触
- }
-
- //鑾峰彇灏忚溅绉诲姩閫熷害
- Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
- List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
- if (nodeList == null) {
- News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
- shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
- return null;
- }
-
- List<NavigateNode> allNode = new ArrayList<>();
- for (NavigateNode node : nodeList) {
- allNode.add(node.clone());
- }
-
- List<ShuttleCommand> commands = new ArrayList<>();
- //鑾峰彇鍒嗘璺緞
- List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
- //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (List<NavigateNode> nodes : data) {
- //寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
-
- //鐩爣璺緞
- NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = navigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- //鑾峰彇绉诲姩鍛戒护
- ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
- command.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
- commands.add(command);
- }
-
- assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
-
+ News.info("{}浠诲姟锛寋}灏忚溅锛寋} - {} 璺緞鍛戒护鍖呰绠楁垚鍔燂紝鑰楁椂:{}ms", assignCommand.getTaskNo(), shuttleProtocol.getShuttleNo(), startLocNo, endLocNo, System.currentTimeMillis() - startTime);
return commands;
}
@@ -213,17 +204,20 @@
return commands;
}
- //妫�娴嬮殰纰嶇墿杞�
- public synchronized boolean checkObstacle(String locNo, List<Integer> whiteShuttles) {
+ /**
+ * 妫�娴嬮殰纰嶇墿杞�
+ * @return 0:鏃犻殰纰� 1:鏈夐殰纰嶈皟搴︽垚鍔� 2:鏈夐殰纰嶈皟搴﹀け璐�
+ */
+ public synchronized int checkObstacle(String locNo, List<Integer> whiteShuttles, List<NavigateNode> whiteNodes) {
int innerCircle = 0;
int outerCircle = 3;
Config avoidInnerCircleConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "avoidInnerCircle"));
- if(avoidInnerCircleConfig != null) {
+ if (avoidInnerCircleConfig != null) {
innerCircle = Integer.parseInt(avoidInnerCircleConfig.getValue());
}
Config avoidOuterCircleConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "avoidOuterCircle"));
- if(avoidOuterCircleConfig != null) {
+ if (avoidOuterCircleConfig != null) {
outerCircle = Integer.parseInt(avoidOuterCircleConfig.getValue());
}
@@ -247,11 +241,11 @@
List<NavigateNode> innerNodes = getInnerNodes(locNo, innerCircle, whiteShuttlePointList);
List<Integer> nodesCar = findNodesCar(innerNodes);
if (nodesCar.isEmpty()) {
- return false;//鍐呭湀涓棤杞�
+ return 0;//鍐呭湀涓棤杞�
}
//鑾峰彇澶栧湀鑺傜偣
- List<NavigateNode> outerNodes = getOuterNodes(locNo, outerCircle, whiteShuttlePointList, innerNodes);
+ List<NavigateNode> outerNodes = getOuterNodes(locNo, outerCircle, whiteShuttlePointList, innerNodes, whiteNodes);
//灏嗗唴鍦堣妭鐐逛腑闅滅灏忚溅璋冪
for (Integer shuttleNo : nodesCar) {
@@ -274,20 +268,21 @@
List<NavigateNode> avoidInnerNodes = getInnerNodes(dispatchLocNo, innerCircle, new ArrayList<>());
//璁＄畻鍐呭湀鏄惁鏈夊皬杞�
List<Integer> avoidNodesCar = findNodesCar(avoidInnerNodes);
- if(!avoidNodesCar.isEmpty()) {
- continue;
+ if (!avoidNodesCar.isEmpty()) {
+ continue;
}
targetLocNo = dispatchLocNo;
break;
}
- if(targetLocNo == null) {
+ if (targetLocNo == null) {
continue;
}
- shuttleDispatchUtils.dispatchShuttle(null, targetLocNo, shuttleNo);
+ boolean dispatched = shuttleDispatchUtils.dispatchShuttle(null, targetLocNo, shuttleNo);
+ return dispatched ? 1 : 2;
}
- return true;//鍐呭湀涓湁杞�
+ return 2;//鍐呭湀涓湁杞�
}
private HashMap<String, Integer> findCarMap() {
@@ -328,7 +323,7 @@
return list;
}
- private List<NavigateNode> getOuterNodes(String locNo, int outerCircle, List<int[]> whiteShuttlePointList, List<NavigateNode> innerNodes) {
+ private List<NavigateNode> getOuterNodes(String locNo, int outerCircle, List<int[]> whiteShuttlePointList, List<NavigateNode> innerNodes, List<NavigateNode> whiteNodes) {
List<NavigateNode> outerNodes = new ArrayList<>();
List<NavigateNode> outerNodesTmp = new ArrayList<>();
int lev = Utils.getLev(locNo);
@@ -353,13 +348,24 @@
for (NavigateNode node : outerNodesTmp) {
boolean flag = false;
for (NavigateNode innerNode : innerNodes) {
- if(node.getX() == innerNode.getX() && node.getY() == innerNode.getY()) {
+ if (node.getX() == innerNode.getX() && node.getY() == innerNode.getY()) {
flag = true;
break;
}
}
- if(flag) {
+ if (flag) {
+ continue;
+ }
+
+ for (NavigateNode whiteNode : whiteNodes) {
+ if (node.getX() == whiteNode.getX() && node.getY() == whiteNode.getY()) {
+ flag = true;
+ break;
+ }
+ }
+
+ if (flag) {
continue;
}
@@ -375,7 +381,17 @@
int[] pointArr = NavigatePositionConvert.positionToXY(locNo);
NavigateNode currentNode = new NavigateNode(pointArr[0], pointArr[1]);
currentNode.setZ(lev);
- innerNodes.add(currentNode);
+
+ boolean addCurrentNode = true;
+ for (int[] shuttlePoint : whiteShuttlePointList) {
+ if(currentNode.getX() == shuttlePoint[0] && currentNode.getY() == shuttlePoint[1]) {
+ addCurrentNode = false;
+ break;
+ }
+ }
+ if (addCurrentNode) {
+ innerNodes.add(currentNode);
+ }
List<List<MapNode>> lists = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//鑾峰彇瀹屾暣鍦板浘
int[][] map = navigateMapData.parseJsonDataArr(lists);
@@ -560,7 +576,7 @@
private boolean is_valid(int[][] map, int x, int y) {
if (x < 0 || x >= map.length
- || y < 0 || y >= map[0].length) {
+ || y < 0 || y >= map[1].length) {
return false;
}
// 濡傛灉缁撶偣鐨勪綅缃皬浜�0锛屽垯涓嶅悎娉�
--
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