From b1aa89d5cc6058a04a848f5d6973f581757eed3f Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期五, 22 十一月 2024 13:34:08 +0800
Subject: [PATCH] #拐点加大惩罚
---
src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java | 131 ++++++++++++++++++++++++++++++++++++++-----
1 files changed, 114 insertions(+), 17 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
index 6fdcd57..fc00b05 100644
--- a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
@@ -1,5 +1,6 @@
package com.zy.common.utils;
+import com.core.common.SpringUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.NyShuttleOperaResult;
@@ -19,30 +20,64 @@
* @param shuttleNo 灏忚溅鍙�
* @param wrkNo 宸ヤ綔鍙�
* @param startPoint 璧风偣锛堝皬杞﹀綋鍓嶄綅缃級
+ * @param targetPoint 鐩爣鐐癸紙璐х墿鐩爣浣嶇疆锛�
+ */
+ public static synchronized NyShuttleOperaResult getShuttleTransportCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint) {
+ //琛岃蛋璺緞
+ ArrayList<NavigateNode> nodes = new ArrayList<>();
+ //鍛戒护闆嗗悎
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+
+ //璁＄畻璧风偣鍒扮洰鏍囩偣鍛戒护
+ NyShuttleOperaResult result = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, targetPoint, NavigationMapType.DFX.id);
+ if (result == null) {
+ //璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
+ return null;
+ }
+ nodes.addAll(result.getNodes());
+ //璧风偣浣嶇疆涓嬪彂涓�鏉￠《鍗囧懡浠ゅ皢璐х墿杩涜鎼繍
+ commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, true));
+ commands.addAll(result.getCommands());//璧风偣鍒扮洰鏍囩偣绉诲姩鍛戒护
+ //褰撳皬杞﹁璧板埌鐩爣鐐瑰悗锛岄渶瑕佷笅鍙戜竴鏉′笅闄嶅懡浠ゅ皢璐х墿鏀剧疆
+ commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, false));
+ return result(commands, nodes);
+ }
+
+ /**
+ * 璁＄畻骞惰幏鍙栧皬杞︿粠璧风偣鈥斺�斾腑闂寸偣鈥斺�旂洰鏍囩偣涔嬮棿鎼繍璐х墿鍔ㄤ綔鍛戒护
+ * @param shuttleNo 灏忚溅鍙�
+ * @param wrkNo 宸ヤ綔鍙�
+ * @param startPoint 璧风偣锛堝皬杞﹀綋鍓嶄綅缃級
* @param middlePoint 涓棿鐐癸紙璐х墿浣嶇疆锛�
* @param targetPoint 鐩爣鐐癸紙璐х墿鐩爣浣嶇疆锛�
*/
- public static NyShuttleOperaResult getShuttleTransportCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String middlePoint, String targetPoint) {
- //璁＄畻璧风偣鍒颁腑闂寸偣鍛戒护
- NyShuttleOperaResult result1 = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, middlePoint);
- //璁＄畻涓棿鐐瑰埌鐩爣鐐瑰懡浠�
- NyShuttleOperaResult result2 = getStartToTargetCommands(shuttleNo, wrkNo, middlePoint, targetPoint);
- if (result1 == null || result2 == null) {
- //涓や釜璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
- return null;
- }
-
+ public static synchronized NyShuttleOperaResult getShuttleTransportCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String middlePoint, String targetPoint) {
//琛岃蛋璺緞
ArrayList<NavigateNode> nodes = new ArrayList<>();
- nodes.addAll(result1.getNodes());
- nodes.addAll(result2.getNodes());
-
//鍛戒护闆嗗悎
ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
- commands.addAll(result1.getCommands());
+
+ if (!startPoint.equals(middlePoint)) {//璧风偣鍜屼腑闂寸偣涓嶄竴鑷达紝闇�瑕佽绠楄捣鐐瑰埌涓棿鐐硅矾寰�
+ //璁＄畻璧风偣鍒颁腑闂寸偣鍛戒护
+ NyShuttleOperaResult result1 = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, middlePoint, NavigationMapType.NORMAL.id);
+ if (result1 == null) {
+ //璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
+ return null;
+ }
+ nodes.addAll(result1.getNodes());
+ commands.addAll(result1.getCommands());
+ }
+
+ //璁＄畻涓棿鐐瑰埌鐩爣鐐瑰懡浠�
+ NyShuttleOperaResult result2 = getStartToTargetCommands(shuttleNo, wrkNo, middlePoint, targetPoint, NavigationMapType.DFX.id);
+ if (result2 == null) {
+ //璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
+ return null;
+ }
+ nodes.addAll(result2.getNodes());
//褰撳皬杞﹁璧板埌涓棿鐐瑰悗锛岄渶瑕佷笅鍙戜竴鏉￠《鍗囧懡浠ゅ皢璐х墿杩涜鎼繍
commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, true));
- commands.addAll(result2.getCommands());
+ commands.addAll(result2.getCommands());//涓棿鐐瑰埌鐩爣鐐圭Щ鍔ㄥ懡浠�
//褰撳皬杞﹁璧板埌鐩爣鐐瑰悗锛岄渶瑕佷笅鍙戜竴鏉′笅闄嶅懡浠ゅ皢璐х墿鏀剧疆
commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, false));
return result(commands, nodes);
@@ -51,15 +86,17 @@
/**
* 鑾峰彇璧风偣鍒扮洰鏍囩偣琛岃蛋鍛戒护
*/
- public static NyShuttleOperaResult getStartToTargetCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint) {
+ public static synchronized NyShuttleOperaResult getStartToTargetCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint, Integer mapType) {
+ NavigateMapUtils navigateMapUtils = SpringUtils.getBean(NavigateMapUtils.class);
//璁＄畻璧风偣鍒扮洰鏍囩偣琛岃蛋鑺傜偣
- List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startPoint)));
+ List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startPoint)), null);
if (calc == null) {
return null;
}
//鍛戒护闆嗗悎
ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+ List<NavigateNode> allNode = new ArrayList<>();
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
@@ -71,9 +108,69 @@
NavigateNode targetPath = nodes.get(nodes.size() - 1);
//鑾峰彇绉诲姩鍛戒护
NyShuttleHttpCommand moveCommand = NyHttpUtils.getMoveCommand(shuttleNo, wrkNo, startPath, targetPath);
+ moveCommand.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
commands.add(moveCommand);
+
+ allNode.addAll(nodes);
}
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), shuttleNo, allNode, true);//閿佸畾璺緞
+ if (!result) {
+ return null;//璺緞閿佸畾澶辫触
+ }
+ return result(commands, calc);
+ }
+
+ /**
+ * 鑾峰彇璧风偣鍒扮洰鏍囩偣琛岃蛋鍛戒护(鍙紶鐧藉悕鍗�)
+ */
+ public static synchronized NyShuttleOperaResult getStartToTargetCommandsByWhites(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint, Integer mapType, List<int[]> whites) {
+ NavigateMapUtils navigateMapUtils = SpringUtils.getBean(NavigateMapUtils.class);
+ //璁＄畻璧风偣鍒扮洰鏍囩偣琛岃蛋鑺傜偣
+ List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startPoint)), whites);
+ if (calc == null) {
+ return null;
+ }
+
+ //鍛戒护闆嗗悎
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+ List<NavigateNode> allNode = new ArrayList<>();
+
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+ //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+ for (ArrayList<NavigateNode> nodes : data) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+ //鐩爣璺緞
+ NavigateNode targetPath = nodes.get(nodes.size() - 1);
+ //鑾峰彇绉诲姩鍛戒护
+ NyShuttleHttpCommand moveCommand = NyHttpUtils.getMoveCommand(shuttleNo, wrkNo, startPath, targetPath);
+ moveCommand.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
+ commands.add(moveCommand);
+
+ allNode.addAll(nodes);
+ }
+
+ //閿佸畾璺緞鏃跺墧闄ょ櫧鍚嶅崟鑺傜偣
+ ArrayList<NavigateNode> nodes = new ArrayList<>();
+ for (NavigateNode node : allNode) {
+ boolean flag = false;
+ for (int[] white : whites) {
+ if (node.getX() == white[0] && node.getY() == white[1]) {
+ flag = true;//瀛樺湪鐧藉悕鍗曡妭鐐�
+ break;//璺宠繃鐧藉悕鍗曡妭鐐�
+ }
+ }
+
+ if (!flag) {
+ nodes.add(node);
+ }
+ }
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), shuttleNo, nodes, true);//閿佸畾璺緞
+ if (!result) {
+ return null;//璺緞閿佸畾澶辫触
+ }
return result(commands, calc);
}
--
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