From b81245aa621ac10e3066e6e7bed932ee3ec5b91a Mon Sep 17 00:00:00 2001 From: Junjie <fallin.jie@qq.com> Date: 星期六, 28 十月 2023 13:23:27 +0800 Subject: [PATCH] #跨楼层移动节点计算采取不同方案 --- src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 81 ++++++++++++++------------ src/main/java/com/zy/common/utils/ShuttleDispatchUtils.java | 4 src/main/java/com/zy/common/utils/NavigateUtils.java | 7 + src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java | 37 ++++++++++++ src/main/java/com/zy/common/utils/NavigateMapData.java | 50 ++++++++++++++++ 5 files changed, 137 insertions(+), 42 deletions(-) diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java index 1b43d5d..9ccfca0 100644 --- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java +++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java @@ -3160,43 +3160,26 @@ return false; } - //璺ㄦゼ灞傜Щ鍔ㄤ换鍔� - if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) { - //鑾峰彇鐩爣绔� - LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); - if (liftSta == null) { - return false;//鎵句笉鍒扮珯鐐� - } - - //*************灏濊瘯瑙i攣鐩爣绔欒矾寰�*************** - List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo()); - if (targetNodes == null) { - return false;//鏈幏鍙栧埌鑺傜偣 - } - //灏濊瘯瑙i攣鐩爣绔欒矾寰� - boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿� - if (!result) { - return false;//璺緞瑙i攣澶辫触 - } - //*************灏濊瘯瑙i攣鐩爣绔欒矾寰�*************** - } - -// //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐� -// BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo()); -// if (targetBasDevp == null) { -// return false;//缂哄皯绔欑偣淇℃伅 -// } +// //璺ㄦゼ灞傜Щ鍔ㄤ换鍔� +// if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) { +// //鑾峰彇鐩爣绔� +// LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); +// if (liftSta == null) { +// return false;//鎵句笉鍒扮珯鐐� +// } // -// //鑾峰彇鎻愬崌鏈烘暟鎹� -// BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo()); -// if (basLift == null) { -// return false;//娌℃湁鎻愬崌鏈烘暟鎹� +// //*************灏濊瘯瑙i攣鐩爣绔欒矾寰�*************** +// List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo()); +// if (targetNodes == null) { +// return false;//鏈幏鍙栧埌鑺傜偣 +// } +// //灏濊瘯瑙i攣鐩爣绔欒矾寰� +// boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿� +// if (!result) { +// return false;//璺緞瑙i攣澶辫触 +// } +// //*************灏濊瘯瑙i攣鐩爣绔欒矾寰�*************** // } -// if (basLift.getPoint() == null) { -// return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍� -// } -// NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY()); -// liftNode.setZ(basLift.getPoint$().getZ()); //灏忚溅宸茬粡鍦ㄧ洰鏍囧簱浣嶏紝鐩存帴璁ゅ畾灏忚溅绉诲姩浠诲姟瀹屾垚 if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { @@ -3225,8 +3208,32 @@ return false; } - //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠� - NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id); + NyShuttleOperaResult result = null; + //璺ㄦゼ灞傜Щ鍔ㄤ换鍔� + if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) { + //闇�瑕佸皢鍓嶄袱涓妭鐐逛綔涓虹櫧鍚嶅崟鑺傜偣浼犲叆 + //鑾峰彇鐩爣绔� + LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); + if (liftSta == null) { + return false;//鎵句笉鍒扮珯鐐� + } + + List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo()); + if (targetNodes == null) { + return false;//鏈幏鍙栧埌鑺傜偣 + } + + //璁剧疆璁$畻鑺傜偣鐨勭櫧鍚嶅崟 + ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁$畻鑺傜偣鐨勭櫧鍚嶅崟 + for (NavigateNode node : targetNodes) { + whiteList.add(new int[]{node.getX(), node.getY()}); + } + result = NyShuttleOperaUtils.getStartToTargetCommandsByWhites(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList); + }else { + //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠� + result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id); + } + if (result == null) { return false;//璺緞璁$畻澶辫触 } diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java index 6b706e1..62b43e6 100644 --- a/src/main/java/com/zy/common/utils/NavigateMapData.java +++ b/src/main/java/com/zy/common/utils/NavigateMapData.java @@ -146,6 +146,37 @@ return null; } + //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 { + String mapFilename = "map_" + lev + ".json"; + + String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞 + File file = new File(fileName); + 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 + + return lists; + } else { + System.out.println("鏂囦欢涓嶅瓨鍦�!"); + } + } catch (IOException ioException) { + ioException.printStackTrace(); + } + return null; + } + /** * 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 @@ -232,6 +263,25 @@ } } + //鍔犺浇鐧藉悕鍗曡妭鐐� + 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); + } + + return lists; } diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java index 596e595..689e571 100644 --- a/src/main/java/com/zy/common/utils/NavigateUtils.java +++ b/src/main/java/com/zy/common/utils/NavigateUtils.java @@ -17,13 +17,16 @@ */ public class NavigateUtils { - public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) { + public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints, List<int[]> whites) { //閫氳繃寮�濮嬬紪鍙峰拰缁撴潫缂栧彿鑾峰彇瀵瑰簲鐨剎y杞村潗鏍� int[] startArr = NavigatePositionConvert.positionToXY(startPoint);//寮�濮嬭妭鐐� int[] endArr = NavigatePositionConvert.positionToXY(endPoint);//缁撴潫鑺傜偣 ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁$畻鑺傜偣鐨勭櫧鍚嶅崟 whiteList.add(startArr);//灏嗗紑濮嬭妭鐐硅缃负鐧藉悕鍗曪紝浠ラ槻琚繃婊� + if (whites != null && !whites.isEmpty()) { + whiteList.addAll(whites);//鎵归噺娣诲姞鐧藉悕鍗曡妭鐐� + } //鑾峰彇褰撳墠鑺傜偣璁$畻鐨勫眰楂橈紝骞惰祴鍊煎埌姣忎竴涓妭鐐逛腑 int lev = Utils.getLev(startPoint); @@ -280,7 +283,7 @@ public static void main(String[] args) { //璁$畻璺緞 - List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null); + List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null, null); System.out.println(calc); System.out.println("------------------------"); // List<NavigateNode> calc = calc("0501401", "0201801", "out"); diff --git a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java index 2c46cd8..d7f5d6a 100644 --- a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java +++ b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java @@ -89,7 +89,42 @@ public static NyShuttleOperaResult getStartToTargetCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint, Integer mapType) { NavigateMapUtils navigateMapUtils = SpringUtils.getBean(NavigateMapUtils.class); //璁$畻璧风偣鍒扮洰鏍囩偣琛岃蛋鑺傜偣 - List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, mapType, 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); + //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); + } + + navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), allNode, true);//閿佸畾璺緞 + 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 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; } diff --git a/src/main/java/com/zy/common/utils/ShuttleDispatchUtils.java b/src/main/java/com/zy/common/utils/ShuttleDispatchUtils.java index f17d9be..77e40a2 100644 --- a/src/main/java/com/zy/common/utils/ShuttleDispatchUtils.java +++ b/src/main/java/com/zy/common/utils/ShuttleDispatchUtils.java @@ -130,7 +130,7 @@ //褰撳墠绌挎杞﹀簱浣嶅彿 String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo(); //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈 - List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝e父閫氶亾鍦板浘 + List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)), 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; } @@ -414,7 +414,7 @@ String locNo = liftStaProtocol.getLocNo();//绔欑偣搴撲綅鍙� //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈 - List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)));//浣跨敤姝e父閫氶亾鍦板浘 + List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//浣跨敤姝e父閫氶亾鍦板浘 if (currentShuttlePath == null) { continue; } -- Gitblit v1.9.1