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