From c605b435cb4be68de70c822162a96e9a78f45a88 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 19 七月 2023 08:57:44 +0800
Subject: [PATCH] command write
---
src/main/java/com/zy/asrs/utils/Utils.java | 421 +++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 392 insertions(+), 29 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index fd12dab..3471267 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,11 +1,36 @@
package com.zy.asrs.utils;
+import com.alibaba.fastjson.JSON;
import com.core.common.Arith;
import com.core.common.Cools;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.LocMastService;
+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.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;
/**
@@ -14,12 +39,10 @@
public class Utils {
public static final List<Integer> FIRST_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(2);add(3);add(4);add(5);add(6);add(7);add(8);add(9);add(10);
- add(11);add(12);add(13);add(14);add(15);add(16);add(17);
+ add(1);add(2);add(3);add(4);
}};
public static final List<Integer> SECOND_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(18);add(19);add(20);
- add(21);add(22);add(23);add(24);add(25);add(26);add(27);add(28);add(29);add(30);
+ add(5);add(6);add(7);add(8);add(9);add(10);add(11);
}};
private static final DecimalFormat fmt = new DecimalFormat("##0.00");
@@ -50,33 +73,62 @@
return getGroupRow(row, pakin);
}
- public static Integer getGroupRow(Integer row, Boolean pakin) {
- if (pakin) {
- if (FIRST_GROUP_ROW_LIST.contains(row)) {
- return 17;
- } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
- return 18;
- } else {
- return 0;
+ 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 (FIRST_GROUP_ROW_LIST.contains(row)) {
- return 2;
- } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
- return 30;
- } else {
- return 0;
+ } 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;
+ }
// -------------------------------------------------------------------------------------------------------------------
-
-
-
@@ -136,12 +188,6 @@
return zerofill(String.valueOf(shallowRow), 2) + deepLoc.substring(2);
}
- public static void main(String[] args) {
- SlaveProperties slaveProperties = new SlaveProperties();
- slaveProperties.setDoubleDeep(true);
- slaveProperties.setGroupCount(2);
- System.out.println(getShallowLoc(slaveProperties, "3200101"));
- }
/**
* 鑾峰彇 娣卞簱浣嶆帓瀵瑰簲鐨勬祬搴撲綅鎺�
@@ -244,4 +290,321 @@
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;
+ }
+
+ //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;
+ }
+ return staNo;
+ }
+
+ //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;
+ }
+ 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++;
+ }
+ 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;
+ }
+
+ //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);
+ 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�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getLocNo() == null) {
+ continue;
+ }
+
+ if (lev != Utils.getLev(shuttleProtocol.getLocNo())) {
+ 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
+ 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;
+
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+
+ 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 (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�
+
+ //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));
+
+ //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());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ 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 (currentShuttleThread == null) {
+ //娌℃壘鍒板皬杞�
+ return false;
+ }
+
+ ShuttleProtocol shuttleProtocol = currentShuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle()) {
+ return false;//琚皟搴︾殑灏忚溅澶勪簬宸ヤ綔鐘舵�侊紝绂佹瑙﹀彂閬胯浠诲姟
+ }
+
+ //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;
+ }
+
}
--
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