From 844381b5feeb874c4a6f51bf0521611b3f097993 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 08 一月 2025 17:00:29 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateMapData.java | 378 +++++++++++++++++++++++++++++++++++++----------------
1 files changed, 260 insertions(+), 118 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index 6012be6..84d4373 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -1,20 +1,27 @@
package com.zy.common.utils;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasMap;
import com.zy.asrs.entity.LocMast;
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.enums.ShuttleTaskModeType;
+import com.zy.core.cache.SlaveConnection;
+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.core.io.ClassPathResource;
import org.springframework.stereotype.Component;
import java.io.*;
import java.util.ArrayList;
-import java.util.Date;
import java.util.List;
/**
@@ -23,26 +30,45 @@
@Component
public class NavigateMapData {
- private Integer lev;//鍦板浘妤煎眰
+ @Autowired
+ private SlaveProperties slaveProperties;
- public NavigateMapData() {
- this.lev = 1;
- }
-
- public NavigateMapData(Integer lev) {
- this.lev = lev;
- }
-
- public int[][] getData() {
- return getData(NavigationMapType.NONE.id, null);//榛樿璇诲彇鏃犺繃婊ょ殑鍏ㄩ儴鍦板浘鏁版嵁
- }
-
- public int[][] getData(Integer mapType, List<int[]> whitePoints) {
+ public int[][] getData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
try {
- String mapFilename = "map_" + lev + ".json";
+// 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 fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
- File file = new File(fileName);
+ 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");
@@ -55,7 +81,7 @@
//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);//杩囨护鍦板浘鏁版嵁
+ 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) {
@@ -69,12 +95,15 @@
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 (IOException ioException) {
- ioException.printStackTrace();
+ } catch (Exception e) {
+ e.printStackTrace();
}
return null;
}
@@ -82,23 +111,23 @@
/**
* 灏濊瘯浠巖edis鑾峰彇鏁版嵁
*/
- public int[][] getDataFromRedis(Integer mapType, List<int[]> whitePoints) {
+ public int[][] getDataFromRedis(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
- Object o = redisUtil.get("realtimeBasMap_" + lev);
+ Object o = redisUtil.get(RedisKeyType.MAP.key + lev);
if (o == null) {
return null;
}
BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
- return this.getDataFormString(basMap.getData(), mapType, whitePoints);
+ return this.getDataFormString(lev, basMap.getData(), mapType, whitePoints, shuttlePoints);
}
/**
* 浠嶭ist鏁版嵁涓幏鍙栧湴鍥�
*/
- public int[][] getDataFormString(String data, Integer mapType, List<int[]> whitePoints) {
+ 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);//杩囨护鍦板浘鏁版嵁
+ 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) {
@@ -115,13 +144,83 @@
return map;
}
- //鑾峰彇JSON鏍煎紡鏁版嵁
- public List<List<MapNode>> getJsonData(Integer mapType, List<int[]> whitePoints) {
- try {
- String mapFilename = "map_" + lev + ".json";
+// //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;
+// }
- String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
- File file = new File(fileName);
+ //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) {
+ 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");
@@ -134,14 +233,18 @@
//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);//杩囨护鍦板浘鏁版嵁
+ 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 (IOException ioException) {
- ioException.printStackTrace();
+ } catch (Exception e) {
+ e.printStackTrace();
}
return null;
}
@@ -149,9 +252,11 @@
/**
* 杩囨护鍦板浘鏁版嵁
* mapType -1=>鏃犺繃婊わ紝1=銆嬭繃婊ゅ簱浣嶇姸鎬丏FX锛�2=銆嬭繃婊ゅ簱浣嶇姸鎬乆
+ *
* @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) {
+ public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
List<List<MapNode>> lists = new ArrayList<>();
//閲嶅缓鏁版嵁鏍煎紡
@@ -167,93 +272,130 @@
//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")) {
- mapNode.setValue(-1);//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(-1);//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
+ }
+ }
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
+ }
+ }catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ //鍔犺浇杞﹁締鍧愭爣鍒板湴鍥句腑
+ if (shuttlePoints != null) {
+ for (int[] points : shuttlePoints) {
+ int x = points[0];
+ int y = points[1];
+ List<MapNode> list = lists.get(x);
+ MapNode mapNode = list.get(y);
+ mapNode.setValue(MapNodeType.CAR.id);//璁剧疆涓鸿溅杈嗕唬鐮�66
+ //鏇存柊list
+ list.set(y, mapNode);
+ lists.set(x, list);
+ }
+ }
+
+ //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
+ for (int[] points : whitePoints) {
+ //鑾峰彇鍘熷鑺傜偣鏁版嵁
+ int x = points[0];
+ int y = points[1];
+ List<MapNode> rows = realMap.get(x);
+ MapNode col = rows.get(y);
+
+ List<MapNode> list = lists.get(x);
+ MapNode mapNode = list.get(y);
+ mapNode.setValue(col.getValue());//鎭㈠鍘熷鑺傜偣
+
+ //鏇存柊list
+ list.set(y, mapNode);
+ lists.set(x, list);
+ }
+ }
+
+ 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());
+ if (forkLiftThread == null) {
+ continue;
+ }
+
+ for (ForkLiftStaProtocol staProtocol : forkLiftThread.getForkLiftStaProtocols()) {
+ 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;
- }
-
- /**
- * 鍐欏叆璺緞鑺傜偣鏁版嵁鍒皉edis鍦板浘涓�
- * lock涓簍rue 绂佺敤搴撲綅锛宭ock涓篺alse鎭㈠搴撲綅
- */
- public boolean writeNavigateNodeToRedisMap(List<NavigateNode> nodes, boolean lock) {
- RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
- Object o = redisUtil.get("realtimeBasMap_" + lev);
- if (o == null) {
- return false;
- }
-
- BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
- ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
- List<List<MapNode>> lists = filterMap(NavigationMapType.NONE.id, arrayList, lev, null);//鑾峰彇鍏ㄩ儴鍦板浘鏁版嵁
-
- for (NavigateNode node : nodes) {
- if (node.getZ() != lev) {
- continue;
- }
-
- List<MapNode> listX = lists.get(node.getX());
- MapNode mapNode = listX.get(node.getY());
- if (lock) {
- mapNode.setValue(-999);//绂佺敤搴撲綅
- }else {
- if (node.getX() == 11 || node.getX() == 19) {
- mapNode.setValue(3);//鎭㈠搴撲綅锛屾瘝杞ㄩ亾
- }else {
- mapNode.setValue(0);//鎭㈠搴撲綅锛屾櫘閫氬簱浣�
- }
- }
-
- listX.set(node.getY(), mapNode);
- lists.set(node.getX(), listX);
- }
- basMap.setData(JSON.toJSONString(lists));
- basMap.setUpdateTime(new Date());
- //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
- redisUtil.set("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
- return true;
}
}
--
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