From d91f689178f6cd84e12e73a5248534dc6713dbce Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 14 十月 2023 16:21:43 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/utils/Utils.java | 303 +++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 274 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 a2d24be..1ef6d12 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,8 +1,40 @@
package com.zy.asrs.utils;
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
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.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.properties.SlaveProperties;
+import com.zy.core.thread.NyShuttleThread;
+import com.zy.core.thread.ShuttleThread;
import java.text.DecimalFormat;
import java.util.ArrayList;
@@ -16,12 +48,10 @@
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");
@@ -68,32 +98,46 @@
}
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;
- }
+ if (FIRST_GROUP_ROW_LIST.contains(row)) {
+ return 4;
+ } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
+ return 5;
} else {
- if (FIRST_GROUP_ROW_LIST.contains(row)) {
- return 2;
- } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
- return 30;
- } else {
- return 0;
- }
+ 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;
+ }
// -------------------------------------------------------------------------------------------------------------------
-
-
-
@@ -255,21 +299,86 @@
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;
+ }
+
+ 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 (FIRST_GROUP_ROW_LIST.contains(row)) {
- for (Integer integer : FIRST_GROUP_ROW_LIST) {
+ 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 (SECOND_GROUP_ROW_LIST.contains(row)) {
- List<Integer> clone = Arrays.asList(new Integer[SECOND_GROUP_ROW_LIST.size()]);
- Collections.copy(clone, SECOND_GROUP_ROW_LIST);
+ } 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) {
@@ -287,4 +396,140 @@
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) {
+ 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�
+ }
+
}
--
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