From 877b2519157cea762b1e63e9c57c09614216d684 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 24 七月 2025 19:27:46 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateMapData.java | 125 +++++++++++++++++++++++++++++++++++++++++
1 files changed, 125 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index 3df92d7..8deec59 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;
@@ -11,16 +13,24 @@
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;
@@ -38,6 +48,8 @@
private DeviceConfigService deviceConfigService;
@Autowired
private BasMapService basMapService;
+ @Autowired
+ private ObjectMapper objectMapper;
public int[][] getData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
try {
@@ -188,6 +200,11 @@
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);
}
}
@@ -396,4 +413,112 @@
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);
+ }
+ }
+
+// HashMap<String, Integer> deviceMap = trafficControlThread.getDeviceMap();
+// if(deviceMap == null) {
+// throw new CoolException("get traffic control device map error");
+// }
+//
+// for (Map.Entry<String, Integer> entry : deviceMap.entrySet()) {
+// String key = entry.getKey();
+// Integer shuttleNo = entry.getValue();
+// if (shuttleNo <= 0) {
+// continue;
+// }
+//
+// Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + shuttleNo);
+// if (object == null) {
+// continue;
+// }
+//
+// int taskNo = Integer.parseInt(String.valueOf(object));
+//
+// Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
+// if (obj == null) {
+// continue;
+// }
+//
+// ShuttleRedisCommand redisCommand = null;
+// try {
+// redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
+// } catch (IOException e) {
+// throw new RuntimeException(e);
+// }
+//
+// if (redisCommand == null) {
+// continue;
+// }
+//
+// ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+// List<ShuttleCommand> commands = assignCommand.getCommands();
+//
+// List<NavigateNode> controlLocList = new ArrayList<>();
+// for (ShuttleCommand command : commands) {
+// if (command.getComplete()) {
+// continue;
+// }
+//
+// if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
+// List<NavigateNode> nodes = command.getNodes();
+// for (NavigateNode node : nodes) {
+// if(!controlLocList.contains(node)) {
+// controlLocList.add(node);
+// }
+// }
+// }
+// }
+//
+// for (NavigateNode node : controlLocList) {
+// 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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