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 | 242 +++++++++++++++++-------------------------------
1 files changed, 86 insertions(+), 156 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index d862cba..1ef6d12 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,11 +1,17 @@
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;
@@ -13,6 +19,7 @@
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;
@@ -23,8 +30,10 @@
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;
@@ -351,29 +360,6 @@
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")));
}
@@ -412,6 +398,7 @@
//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()) {
@@ -420,120 +407,53 @@
}
//鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
continue;
}
- if (shuttleProtocol.getLocNo() == 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(shuttleProtocol.getLocNo())) {
+ if (lev != Utils.getLev(currentLocNo)) {
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
+ 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;
}
- //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;
-
+ //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);
-
- 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;
- }
-
- //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);
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
CommonService commonService = SpringUtils.getBean(CommonService.class);
+ ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
if (shuttleThread == null) {
- return null;
+ return false;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
- return null;
+ return false;
}
NavigateMapData mapData = new NavigateMapData(z);//鑾峰彇鍦板浘鏁版嵁
@@ -542,9 +462,11 @@
int distY = -1;
int distX = -1;
int distZ = -1;
- for (int y = 3; y <= 25; y++) {
+ //鑾峰彇閬胯搴撲綅
+ String distLocNo = null;
+ for (int y = 20; y <= 56; y++) {
boolean searchFlag = true;
- for (int x = 20; x <= 23; x++) {
+ 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;
@@ -554,52 +476,60 @@
if (searchFlag) {
//鎼滅储鍑虹┖宸烽亾
distY = y;
- distX = 20;
+ 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 (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.MOVE_LOC_NO.id.shortValue());//绉诲姩鍒扮洰鏍囧簱浣�
- 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;
+ 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 null;
+ 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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