From 8c7b4949dfcf875cc537304d34a7f6960cbb0c10 Mon Sep 17 00:00:00 2001
From: qlsxk <qlsxk@qq.com>
Date: 星期四, 16 十月 2025 14:57:12 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/utils/Utils.java | 649 ++++++++++++++++------------------------------------------
1 files changed, 177 insertions(+), 472 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index bd681ed..26132f4 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,49 +1,29 @@
package com.zy.asrs.utils;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.SpringUtils;
+import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.LocMastService;
-import com.zy.asrs.service.impl.MainServiceImpl;
+import com.zy.asrs.service.WrkMastService;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
-import com.zy.common.service.CommonService;
-import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
-import com.zy.core.Slave;
-import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.ShuttleRunDirection;
-import com.zy.core.enums.ShuttleTaskModeType;
import com.zy.core.enums.SlaveType;
-import com.zy.core.model.ShuttleSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.ShuttleAssignCommand;
-import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
-import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;
-
import java.text.DecimalFormat;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
+import java.util.*;
-/**
- * Created by vincent on 2020/8/27
- */
public class Utils {
-
- public static final List<Integer> FIRST_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(1);add(2);add(3);add(4);
- }};
- public static final List<Integer> SECOND_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(5);add(6);add(7);add(8);add(9);add(10);add(11);
- }};
private static final DecimalFormat fmt = new DecimalFormat("##0.00");
@@ -66,168 +46,6 @@
}
return msgBuilder.toString();
}
- }
-
- public static Integer getGroupRow(String locNo, Boolean pakin){
- int row = getRow(locNo);
- return getGroupRow(row, pakin);
- }
-
- public static List<String> getGroupLocNo(String locNo){
- int row = getRow(locNo);
- List<String> result = new ArrayList<>();
- if (FIRST_GROUP_ROW_LIST.contains(row)) {
- for (Integer groupRow : FIRST_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
- }
- } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
- for (Integer groupRow : SECOND_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
- }
- }
- return result;
- }
-
- public static Integer getGroupRow(Integer row, Boolean pakin) {
- if (FIRST_GROUP_ROW_LIST.contains(row)) {
- return 4;
- } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
- return 5;
- } else {
- return 0;
- }
-// if (pakin) {
-// if (FIRST_GROUP_ROW_LIST.contains(row)) {
-// return 2;
-// } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
-// return 18;
-// } else {
-// return 0;
-// }
-// } else {
-// if (FIRST_GROUP_ROW_LIST.contains(row)) {
-// return 12;
-// } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
-// return 30;
-// } else {
-// return 0;
-// }
-// }
- }
-
- /**
- * 鍒ゆ柇搴撲綅鏄惁涓虹┛姊簱浣�
- * @param locNo
- * @return
- */
- public static Boolean isShuttle(String locNo) {
- int row = Utils.getRow(locNo);
- if (row >= 2 && row <= 12) {
- return Boolean.TRUE;
- }
- return Boolean.FALSE;
- }
-
- // -------------------------------------------------------------------------------------------------------------------
-
-
-
- /**
- * 鍒ゆ柇鏄惁涓烘繁搴撲綅
- */
- public static boolean isDeepLoc(SlaveProperties slaveProperties, String locNo){
- if (slaveProperties.isDoubleDeep()) {
- int row = getRow(locNo);
- return slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘繁搴撲綅
- */
- public static boolean isDeepLoc(SlaveProperties slaveProperties, Integer row){
- if (slaveProperties.isDoubleDeep()) {
- return slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘祬搴撲綅
- */
- public static boolean isShallowLoc(SlaveProperties slaveProperties, String locNo){
- if (slaveProperties.isDoubleDeep()) {
- int row = getRow(locNo);
- return !slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘祬搴撲綅
- */
- public static boolean isShallowLoc(SlaveProperties slaveProperties, Integer row){
- if (slaveProperties.isDoubleDeep()) {
- return !slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鑾峰彇 娣卞簱浣嶅搴旂殑娴呭簱浣嶅彿
- */
- public static String getShallowLoc(SlaveProperties slaveProperties, String deepLoc) {
- int row = getRow(deepLoc);
- int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
- int shallowRow = remainder == 1 ? (row + 1) : (row - 1);
- return zerofill(String.valueOf(shallowRow), 2) + deepLoc.substring(2);
- }
-
-
- /**
- * 鑾峰彇 娣卞簱浣嶆帓瀵瑰簲鐨勬祬搴撲綅鎺�
- */
- public static Integer getShallowRow(SlaveProperties slaveProperties, Integer deepRow) {
- int remainder = (int) Arith.remainder(deepRow, slaveProperties.getGroupCount());
- return remainder == 1 ? (deepRow + 1) : (deepRow - 1);
- }
-
- /**
- * 鑾峰彇 娴呭簱浣嶅搴旂殑娣卞簱浣嶅彿
- */
- public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
- int row = getRow(shallowLoc);
- int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
- int targetRow;
- if (remainder == 2) {
- targetRow = row - 1;
- } else if (remainder == 1) {
- targetRow = row + 1;
- } else {
- throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
- }
- return zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
- }
-
- /**
- * 鑾峰彇 娴呭簱浣嶆帓瀵瑰簲鐨勬繁搴撲綅鎺�
- */
- public static Integer getDeepRow(SlaveProperties slaveProperties, Integer shallowRow) {
- int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
- int targetRow;
- if (remainder == 2) {
- targetRow = shallowRow - 1;
- } else if (remainder == 1) {
- targetRow = shallowRow + 1;
- } else {
- throw new RuntimeException(shallowRow + "涓嶆槸娴呭簱浣嶆帓锛岀郴缁熺箒蹇�");
- }
- return targetRow;
}
/**
@@ -260,346 +78,233 @@
throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
}
- /**
- * 閫氳繃鎺掑垪灞傛嫾鎺ュ嚭搴撲綅鍙�
- */
- public static String append(int row, int bay, int lev) {
- return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
- }
-
-
- /**
- * 褰撴绱㈠埌鍙屾繁搴撲綅鐨勬祬搴撲綅鏃讹紝濡傛灉娣卞簱浣嶆棤璐э紝鍒欐斁鍏ュ搴旂殑娣卞簱浣�
- */
- public static void toDeepIfEmptyByShallow(String shallowLoc) {
- int row = getRow(shallowLoc);
- int remainder = (int) Arith.remainder(row, 4);
- int targetRow = 0;
- if (remainder == 2) {
- targetRow = row - 1;
- } else if (remainder == 3) {
- targetRow = row + 1;
- } else {
- throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
- }
- String targetLoc = zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
-
- }
-
public static String getLocNo(Number row, Number bay, Number lev) {
return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
}
- //鍑哄叆搴撶珯鐐瑰彿杞崲瀵瑰簲妤煎眰
- public static Integer outInStaNoToLev(Integer distSta) {
- Integer distLev = 1;//鐩爣妤煎眰
- switch (distSta) {
- case 102:
- distLev = 2;//杈撻�佺嚎妤煎眰
- case 105:
- distLev = 1;//涓�妤�
- case 106:
- distLev = 3;//浜屾ゼ
- case 107:
- distLev = 4;//涓夋ゼ
- case 108:
- distLev = 5;//鍥涙ゼ
- }
- return distLev;
+ public static List<String> getGroupLoc(String locNo) {
+ return null;
}
- //妤煎眰杞崲瀵瑰簲鍑哄叆搴撶珯鐐瑰彿
- public static Integer levToOutInStaNo(Integer lev) {
- Integer staNo = null;//绔欑偣鍙�
- switch (lev) {
- case 1:
- staNo = 105;
- break;
- case 2://杈撻�佺嚎灞�
- staNo = 105;
- break;
- case 3:
- staNo = 106;
- break;
- case 4:
- staNo = 107;
- break;
- case 5:
- staNo = 108;
- break;
+ //鑾峰彇绌挎杞y鍧愭爣鐐�
+ public static int[] getShuttlePoint(Integer shuttleNo) {
+ //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return null;
}
- return staNo;
- }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return null;
+ }
- //鎻愬崌鏈轰綅缃弽棣堣浆鎹㈠嚭鍏ュ簱绔欑偣搴撲綅鍙�
- public static String liftArrivalToOutInStaLocNo(Short liftArrival) {
- String locNo = null;
- switch (liftArrival) {
- case 1:
- locNo = "1800201";
- break;
- case 4:
- locNo = "1800202";
- break;
- case 8:
- locNo = "1800203";
- break;
- case 16:
- locNo = "1800204";
- break;
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ return null;
}
- return locNo;
- }
- //妤煎眰杞崲瀵瑰簲鍑哄叆搴撶珯鐐瑰簱浣嶅彿
- public static String levToOutInStaLocNo(Integer lev) {
- String locNo = null;
- if (lev >= 2) {
- lev++;
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ return null;
}
- switch (lev) {
- case 1:
- locNo = "1800201";
- break;
- case 3:
- locNo = "1800202";
- break;
- case 4:
- locNo = "1800203";
- break;
- case 5:
- locNo = "1800204";
- break;
- }
- return locNo;
- }
-
- public static void main(String[] args) {
- System.out.println(JSON.toJSONString(getGroupOutsideLoc("0200101")));
- }
-
- // 澶栦晶鏂瑰悜鐨勮揣浣� 浼樺厛鍏ュ簱鏂瑰悜/浼樺厛鍑哄簱鏂瑰悜 ===>> 鍙嶄箣
- public static List<String> getGroupOutsideLoc(String locNo){
- int row = getRow(locNo);
- List<String> result = new ArrayList<>();
- if (SECOND_GROUP_ROW_LIST.contains(row)) {
- for (Integer integer : SECOND_GROUP_ROW_LIST) {
- if (integer < row) {
- result.add(zerofill(String.valueOf(integer), 2) + locNo.substring(2));
- } else {
- break;
- }
- }
- } else if (FIRST_GROUP_ROW_LIST.contains(row)) {
- List<Integer> clone = Arrays.asList(new Integer[FIRST_GROUP_ROW_LIST.size()]);
- Collections.copy(clone, FIRST_GROUP_ROW_LIST);
- Collections.reverse(clone);
- for (Integer integer : clone) {
- if (integer > row) {
- result.add(zerofill(String.valueOf(integer), 2) + locNo.substring(2));
- } else {
- break;
- }
- }
- } else {
-// throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
- }
- if (!Cools.isEmpty(result)) {
- Collections.reverse(result);
- }
- return result;
+ return NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());
}
//鑾峰彇闄ょ櫧鍚嶅崟澶栫殑鎸囧畾妤煎眰鍏ㄩ儴绌挎杞y鍧愭爣鐐�
public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
- SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
ArrayList<int[]> list = new ArrayList<>();
- for (ShuttleSlave slave : slaveProperties.getShuttle()) {
- if (slave.getId().intValue() == whiteShuttle) {
+
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
+ if (device.getDeviceNo().intValue() == whiteShuttle) {
continue;//璺宠繃鐧藉悕鍗�
}
//鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
- if (shuttleProtocol.getLocNo() == null) {
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
continue;
}
- if (lev != Utils.getLev(shuttleProtocol.getLocNo())) {
+ if (lev != Utils.getLev(currentLocNo)) {
continue;//妤煎眰涓嶅悓
}
- int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getLocNo());//閫氳繃搴撲綅鍙疯幏鍙杧y鍧愭爣
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+ int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//閫氳繃搴撲綅鍙疯幏鍙杧y鍧愭爣
list.add(xyPosition);
}
return list;
}
- //妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
- public static boolean checkShuttlePath(List<NavigateNode> nodes, Integer shuttleId) {
- boolean flag = false;
- int shuttleX = -1;
- int shuttleY = -1;
- int shuttleZ = -1;
+ public static ShuttleThread searchShuttle(String locNo) {
+ DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
+ //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
- LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ continue;
+ }
- if (nodes == null) {
- return false;
- }
- if (nodes.size() == 0) {
- return false;
- }
- NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());//鑾峰彇鍦板浘鏁版嵁
- int[][] data = mapData.getData(-1, null, Utils.getShuttlePoints(shuttleId, nodes.get(0).getZ()));
- for (NavigateNode node : nodes) {
- int x = node.getX();
- int y = node.getY();
- if (data[x][y] == 66) {//鍒ゆ柇璇ヨ矾寰勬槸鍚︽湁灏忚溅
- flag = true;//瀛樺湪灏忚溅
- shuttleX = x;
- shuttleY = y;
- shuttleZ = node.getZ();
- break;
+ if (currentLocNo.equals(locNo)) {
+ return shuttleThread;
}
}
- if (flag) {
- //妫�娴嬪埌璺緞瀛樺湪鍏朵粬灏忚溅
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬�
+ return null;
+ }
- //鑾峰彇灏忚溅鍧愭爣浜岀淮鐮�
- Short shuttlePosition = NavigatePositionConvert.xyToPosition(shuttleX, shuttleY, shuttleZ);
- LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttlePosition));
+ //妫�娴嬫ゼ灞傛槸鍚︽湁鍙敤绌挎杞�
+ public static boolean checkLevHasShuttle(Integer lev) {
+ DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
- //鑾峰彇灏忚溅绾跨▼
- SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
- ShuttleThread currentShuttleThread = null;
- for (ShuttleSlave slave : slaveProperties.getShuttle()) {
- //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ continue;
+ }
+
+ //灏忚溅姝ｅ湪鍏呯數
+ if (shuttleThread.isCharging()) {
+ continue;
+ }
+
+ //灏忚溅鏈夊厖鐢典换鍔�
+ WrkMast chargeWorking = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
+ if (chargeWorking != null) {//宸叉湁鍏呯數浠诲姟
+ continue;
+ }
+
+ //灏忚溅澶勪簬鏁呴殰鐘舵��
+ if (shuttleThread.isFault()) {
+ continue;
+ }
+
+ if (lev == Utils.getLev(currentLocNo)) {
+ return true;//鎸囧畾妤煎眰鏈夌┛姊溅
+ }
+ }
+
+ return false;//鎸囧畾妤煎眰娌℃湁绌挎杞�
+ }
+
+ //妫�娴嬪簱浣嶇粍鏄惁瀛樺湪灏忚溅锛屽瓨鍦ㄨ繑鍥炲皬杞﹀彿銆�
+ public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
+ if (groupLoc == null) {
+ return null;
+ }
+
+ if (groupLoc.isEmpty()) {
+ return null;
+ }
+
+ DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
+ if (deviceConfigService == null) {
+ return null;
+ }
+
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+
+ for (String loc : groupLoc) {
+ for (DeviceConfig device : shuttleList) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
- if (shuttleProtocol.getCurrentCode().intValue() == Integer.parseInt(shuttleLocMast.getQrCodeValue())) {
- //灏忚溅鍧愭爣鍜岀嚎绋嬭幏鍙栫殑灏忚溅鍧愭爣涓�鑷�
- currentShuttleThread = shuttleThread;
- break;
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
+ //瀛樺湪灏忚溅
+ return device.getDeviceNo();
}
}
-
- if (currentShuttleThread == null) {
- //娌℃壘鍒板皬杞�
- return false;
- }
-
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
- ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(shuttleZ, shuttleId, currentShuttleThread, null);//shuttleId鎼滅储鏃堕渶瑕佹帓闄ょ殑杞﹁締id锛宑urrentShuttleThread鏄渶瑕佽璋冨害鐨勮溅杈嗙嚎绋�
-
- if (assignCommand == null) {
- return false;
- }
-
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
-
- return false;
}
- return true;
- }
-
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰繑鍥炵Щ鍔ㄥ皬杞︾殑鍛戒护
- public static ShuttleAssignCommand searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, ShuttleThread shuttleThread, String startLocNo) {
- LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
- MainServiceImpl mainServiceImpl = SpringUtils.getBean(MainServiceImpl.class);
- CommonService commonService = SpringUtils.getBean(CommonService.class);
-
- if (shuttleThread == null) {
- return null;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- return null;
- }
-
- NavigateMapData mapData = new NavigateMapData(z);//鑾峰彇鍦板浘鏁版嵁
- int[][] data = mapData.getData(-1, null, currentShuttleId == null ? null : Utils.getShuttlePoints(0, z));//杞藉叆鍏ㄩ儴杞﹁締
-
- int distY = -1;
- int distX = -1;
- int distZ = -1;
- for (int y = 3; y <= 25; y++) {
- boolean searchFlag = true;
- for (int x = 20; x <= 23; x++) {
- if (data[x][y] < 0 || data[x][y] == 66) {
- searchFlag = false;//璇ュ贩閬撴湁绂佺敤鑺傜偣鎴栨湁灏忚溅
- break;
- }
- }
-
- if (searchFlag) {
- //鎼滅储鍑虹┖宸烽亾
- distY = y;
- distX = 20;
- distZ = z;
- break;
- }
- }
-
- if (distY != -1) {
-
- //鑾峰彇閬胯鍧愭爣浜岀淮鐮�
- Short distPosition = NavigatePositionConvert.xyToPosition(distX, distY, distZ);
- LocMast distLocMast = locMastService.queryByQrCode(String.valueOf(distPosition));
- if (distLocMast == null) {
- return null;
- }
-
- if (startLocNo == null) {
- //鑾峰彇灏忚溅鍧愭爣浜岀淮鐮�
- LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttleProtocol.getCurrentCode()));
- if (shuttleLocMast == null) {
- return null;
- }
- startLocNo = shuttleLocMast.getLocNo();
- }
-
- //鍒涘缓鍒嗛厤鍛戒护
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
- assignCommand.setTaskNo((short) commonService.getWorkNo(7));//浠诲姟鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.AVOID.id.shortValue());//閬胯浠诲姟
- assignCommand.setSourceLocNo(startLocNo);//婧愬簱浣�
-
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(distLocMast.getLocNo());
- //鐩爣搴撲綅
- assignCommand.setLocNo(distLocMast.getLocNo());
-
- //灏忚溅绉诲姩鍒扮洰鏍囦綅缃�
- List<ShuttleCommand> commands = mainServiceImpl.shuttleAssignCommand(startLocNo, distLocMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- if (commands == null) {
- return null;
- }
-
- assignCommand.setCommands(commands);
- return assignCommand;
- }
return null;
}
+ //鑾峰彇灏忚溅寰呮満浣�
+ public static String getShuttleStandbyLocNo(String locNo) {
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
+ .eq("loc_type", "standby")
+ .eq("lev1", Utils.getLev(locNo)));
+ if (locMasts.isEmpty()) {
+ return null;
+ }
+
+ Integer recentDistance = Integer.MAX_VALUE;
+ String recentLocNo = null;
+ for (LocMast locMast : locMasts) {
+ //寰呮満浣嶅埌鐩爣鐐硅窛绂�
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(locNo, locMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), Utils.getShuttlePoints(0, Utils.getLev(locNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
+ }
+ Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ if (currentAllDistance < recentDistance) {
+ recentDistance = currentAllDistance;
+ recentLocNo = locMast.getLocNo();
+ }
+ }
+
+ return recentLocNo;
+ }
+
+ public static boolean isJSON(String value) {
+ try {
+ JSONObject jsonData = JSON.parseObject(value);
+ if (jsonData == null) {
+ return false;
+ }
+ return true;
+ } catch (Exception e) {
+ return false;
+ }
+ }
}
--
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