From ac149f8a32daf67f543d54b41e371906b69438e0 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 22 十一月 2023 08:33:01 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/utils/Utils.java | 461 +++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 396 insertions(+), 65 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index d9068cc..938b141 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,15 +1,46 @@
package com.zy.asrs.utils;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Arith;
import com.core.common.Cools;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.service.impl.MainServiceImpl;
+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.common.utils.ShuttleDispatchUtils;
+import com.zy.core.DevpThread;
+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.NyShuttleProtocol;
+import com.zy.core.model.protocol.ShuttleProtocol;
+import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
+import com.zy.core.thread.NyShuttleThread;
+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
@@ -17,10 +48,28 @@
public class Utils {
public static final List<Integer> FIRST_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(1);add(2);add(3);add(4);
+ add(1);
}};
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);
+ add(3);add(4);
+ }};
+ public static final List<Integer> THIRD_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(6);add(7);
+ }};
+ public static final List<Integer> FOURTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(8);
+ }};
+ public static final List<Integer> FIFTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(10);add(11);
+ }};
+ public static final List<Integer> SIXTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(13);add(14);add(15);add(16);
+ }};
+ public static final List<Integer> SEVENTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(13);add(14);
+ }};
+ public static final List<Integer> EIGHTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(16);
}};
private static final DecimalFormat fmt = new DecimalFormat("##0.00");
@@ -49,21 +98,6 @@
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) {
@@ -245,63 +279,360 @@
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);
}
public static void main(String[] args) {
- System.out.println(JSON.toJSONString(getGroupOutsideLoc("0200101")));
+ System.out.println(JSON.toJSONString(getGroupLoc("1606101")));
}
- // 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){
+ /**
+ * 鑾峰彇搴撲綅缁�
+ * @param locNo 搴撲綅鍙�
+ */
+ public static List<String> getGroupLoc(String locNo){
int row = getRow(locNo);
- List<String> result = new ArrayList<>();
+ int bay = getBay(locNo);
+ if (FIRST_GROUP_ROW_LIST.contains(row)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : FIRST_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
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;
- }
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : SECOND_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
}
- } 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");
+ return result;
}
- if (!Cools.isEmpty(result)) {
+ if (THIRD_GROUP_ROW_LIST.contains(row)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : THIRD_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
Collections.reverse(result);
+ return result;
}
- return result;
+ if (FOURTH_GROUP_ROW_LIST.contains(row)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : FOURTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
+ if (FIFTH_GROUP_ROW_LIST.contains(row)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : FIFTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
+ if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ Collections.reverse(result);
+ return result;
+ }
+ if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : SEVENTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
+ if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : EIGHTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
+ throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
+ }
+
+ /**
+ * 鑾峰彇澶栦晶鏂瑰悜鐨勫簱浣嶇粍
+ * @param locNo 搴撲綅鍙�
+ */
+ public static List<String> getGroupOuterLoc(String locNo){
+ int row = getRow(locNo);
+ int bay = getBay(locNo);
+
+ //(1,3,4,10,11)娌℃湁澶栦晶鏂瑰悜搴撲綅缁�,(13,14,16)59鍒椾箣鍐呮病鏈夊渚ф柟鍚戝簱浣嶇粍
+ if (FIRST_GROUP_ROW_LIST.contains(row)) {//1鎺�
+ return new ArrayList<>();
+ }
+ if (SECOND_GROUP_ROW_LIST.contains(row)) {//3-4鎺�
+ return new ArrayList<>();
+ }
+ if (THIRD_GROUP_ROW_LIST.contains(row)) {//6-7鎺�
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : THIRD_GROUP_ROW_LIST) {
+ if (row0 < row) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ }
+ return result;
+ }
+ if (FOURTH_GROUP_ROW_LIST.contains(row)) {//8鎺�
+ return new ArrayList<>();
+ }
+ if (FIFTH_GROUP_ROW_LIST.contains(row)) {//10-11鎺�
+ return new ArrayList<>();
+ }
+ if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {//13-16鎺�59-61鍒楀渚ф柟鍚戝簱浣嶇粍
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
+ if (row0 < row) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ }
+ return result;
+ }
+ if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//13-14鎺�59鍒椾箣鍐呮病鏈夊渚ф柟鍚戝簱浣嶇粍
+ return new ArrayList<>();
+ }
+ if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//16鎺�59鍒椾箣鍐呮病鏈夊渚ф柟鍚戝簱浣嶇粍
+ return new ArrayList<>();
+ }
+ throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
+ }
+
+ //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) {
+ BasShuttleService basShuttleService = SpringUtils.getBean(BasShuttleService.class);
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ ArrayList<int[]> list = new ArrayList<>();
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+ if (slave.getId().intValue() == whiteShuttle) {
+ continue;//璺宠繃鐧藉悕鍗�
+ }
+
+ //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+
+ if (currentLocNo == null) {
+ //灏忚溅娌℃湁搴撲綅鍙锋暟鎹紝浠庢暟鎹簱涓彇
+ BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
+ if (basShuttle == null || basShuttle.getPoint() == null) {
+ continue;
+ }
+ NyShuttleProtocol.NyShuttlePointClass shuttlePoint = JSON.parseObject(basShuttle.getPoint(), NyShuttleProtocol.NyShuttlePointClass.class);
+ currentLocNo = NavigatePositionConvert.nyXyzToLocNo(shuttlePoint.getX(), shuttlePoint.getY(), shuttlePoint.getZ());
+ }
+
+ if (lev != Utils.getLev(currentLocNo)) {
+ continue;//妤煎眰涓嶅悓
+ }
+
+ 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;
+ }
+
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
+ public static boolean searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, NyShuttleThread shuttleThread) {
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
+ CommonService commonService = SpringUtils.getBean(CommonService.class);
+ ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
+
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ 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;
+ //鑾峰彇閬胯搴撲綅
+ String distLocNo = null;
+ for (int y = 20; y <= 56; y++) {
+ boolean searchFlag = true;
+ for (int x = 10; x <= 11; 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 = 11;
+ distZ = z;
+
+ //鑾峰彇閬胯搴撲綅
+ String locNo = NavigatePositionConvert.xyzToLocNo(distX, distY, distZ);
+ LocMast distLocMast = locMastService.queryByLoc(locNo);
+ if (distLocMast == null) {
+ continue;
+ }
+
+ //鍒ゆ柇璇ュ簱浣嶆槸鍚﹀瓨鍦ㄥ伐浣滄。
+ EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
+ wrapper.eq("loc_no", locNo);
+ WrkMast wrkMast = wrkMastService.selectOne(wrapper);
+ if (wrkMast != null) {
+ continue;//瀛樺湪宸ヤ綔妗ｈ烦杩囪搴撲綅
+ }
+
+ distLocNo = locNo;
+ break;
+ }
+ }
+
+ if (distLocNo != null) {
+ //璋冨害灏忚溅鍒伴伩璁╀綅缃�
+ return shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(7), distLocNo, shuttleProtocol.getShuttleNo().intValue());
+ }
+ return false;
+ }
+
+ //妫�娴嬫ゼ灞傛槸鍚︽湁绌挎杞�
+ public static boolean checkLevHasShuttle(Integer lev) {
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ 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;
+ }
+
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ if (slaveProperties == null) {
+ return null;
+ }
+
+ for (String loc : groupLoc) {
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
+ //瀛樺湪灏忚溅
+ return slave.getId();
+ }
+ }
+ }
+
+ return null;
+ }
+
+ //閫氳繃鎻愬崌鏈哄彿鍜屾ゼ灞傝幏鍙栧嚭鍏ュ簱妯″紡
+ public static Integer getOutInModelByLift(Integer liftNo, Integer lev) {
+ ArrayList<Integer> lev1 = new ArrayList<Integer>() {{
+ add(100);add(103);
+ add(105);
+ }};
+ ArrayList<Integer> lev2 = new ArrayList<Integer>() {{
+ add(200);add(203);
+ add(205);
+ }};
+ ArrayList<Integer> lev3 = new ArrayList<Integer>() {{
+ add(341);add(346);
+ }};
+
+ Integer staNo = null;
+ if (lev <= 4) {
+ staNo = lev1.get(liftNo - 1);
+ } else if (lev >= 5 && lev <= 7) {
+ staNo = lev2.get(liftNo - 1);
+ } else if ((lev >=8 && lev <= 10) && liftNo != 1) {
+ staNo = lev3.get(liftNo - 2);
+ }
+
+ if (staNo != null) {
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) {
+ return null;
+ }
+
+ if (staNo == 100 || staNo == 200) {//1鍙锋彁鍗囨満100绔欏拰200绔欓粯璁ゅ叏鏄嚭搴撴ā寮�
+ return 2;//鍑哄簱妯″紡
+ }
+
+ if (staNo == 341) {
+ return 1;//341绔欓粯璁ゅ彧鑳藉叆搴撴ā寮�
+ }
+
+ if (staProtocol.getOutInModel() == null) {
+ return null;//娌℃湁鍑哄叆搴撲俊鍙�
+ }
+
+ return staProtocol.getOutInModel().intValue();
+ }
+ return null;
+ }
+
+ public static void wapperSetCondition(Wrapper wrapper, String column, String condition){
+ if(Cools.isEmpty(condition) || "null".equals(condition)){
+ wrapper.andNew().eq(column,"").or().isNull(column);
+ }else {
+ wrapper.eq(column,condition);
+ }
}
}
--
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