From dad4b7fd3a7fcaed73d28f0ebd9e90d86ca21225 Mon Sep 17 00:00:00 2001 From: Junjie <fallin.jie@qq.com> Date: 星期二, 22 七月 2025 12:34:51 +0800 Subject: [PATCH] # --- src/main/java/com/zy/common/utils/NavigateMapData.java | 142 ++++++++++++++++++++++++++++++++++++----------- 1 files changed, 108 insertions(+), 34 deletions(-) diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java index cf5a6c0..3df92d7 100644 --- a/src/main/java/com/zy/common/utils/NavigateMapData.java +++ b/src/main/java/com/zy/common/utils/NavigateMapData.java @@ -1,10 +1,13 @@ package com.zy.common.utils; import com.alibaba.fastjson.JSON; +import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.SpringUtils; import com.zy.asrs.entity.BasMap; +import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.entity.LocMast; import com.zy.asrs.service.BasMapService; +import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.service.LocMastService; import com.zy.asrs.utils.Utils; import com.zy.common.model.MapNode; @@ -13,16 +16,15 @@ import com.zy.core.enums.MapNodeType; import com.zy.core.enums.RedisKeyType; import com.zy.core.enums.SlaveType; -import com.zy.core.model.ForkLiftSlave; import com.zy.core.model.protocol.ForkLiftStaProtocol; -import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.ForkLiftThread; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; -import java.io.*; import java.util.ArrayList; +import java.util.HashMap; import java.util.List; +import java.util.Map; /** * A*绠楁硶鍦板浘鑾峰彇绫� @@ -31,18 +33,20 @@ public class NavigateMapData { @Autowired - private SlaveProperties slaveProperties; + private RedisUtil redisUtil; + @Autowired + private DeviceConfigService deviceConfigService; @Autowired private BasMapService basMapService; - public int[][] getData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) { + public int[][] getData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) { try { BasMap basMap = basMapService.selectLatestMap(lev); String originData = basMap.getOriginData(); //瑙f瀽json鍦板浘鏁版嵁 ArrayList arrayList = JSON.parseObject(originData, ArrayList.class); - List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁 + List<List<MapNode>> lists = filterMap(mapTypes, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁 int[][] map = new int[lists.size()][]; int j = 0; for (List<MapNode> list : lists) { @@ -66,23 +70,22 @@ /** * 灏濊瘯浠巖edis鑾峰彇鏁版嵁 */ - public int[][] getDataFromRedis(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) { - RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class); + public int[][] getDataFromRedis(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) { Object o = redisUtil.get(RedisKeyType.MAP.key + lev); if (o == null) { return null; } BasMap basMap = JSON.parseObject(o.toString(), BasMap.class); - return this.getDataFormString(lev, basMap.getData(), mapType, whitePoints, shuttlePoints); + return this.getDataFormString(lev, basMap.getData(), mapTypes, whitePoints, shuttlePoints); } /** * 浠嶭ist鏁版嵁涓幏鍙栧湴鍥� */ - public int[][] getDataFormString(Integer lev, String data, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) { + public int[][] getDataFormString(Integer lev, String data, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) { ArrayList arrayList = JSON.parseObject(data, ArrayList.class); - List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁 + List<List<MapNode>> lists = filterMap(mapTypes, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁 int[][] map = new int[lists.size()][]; int j = 0; for (List<MapNode> list : lists) { @@ -99,8 +102,27 @@ return map; } - //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) { + //鑾峰彇瀹炴椂鍦板浘-JSON鏍煎紡鏁版嵁 + public List<List<MapNode>> getJsonData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) { + try { + Object data = redisUtil.get(RedisKeyType.MAP.key + lev); + if (data == null) { + return null; + } + + BasMap basMap = JSON.parseObject(data.toString(), BasMap.class); + //瑙f瀽json鍦板浘鏁版嵁 + ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class); + List<List<MapNode>> lists = filterMap(mapTypes, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁 + return lists; + } catch (Exception e) { + e.printStackTrace(); + } + return null; + } + + //鑾峰彇鍘熷鍦板浘-JSON鏍煎紡鏁版嵁 + public List<List<MapNode>> getJsonOriginData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) { try { BasMap basMap = basMapService.selectLatestMap(lev); String originData = basMap.getOriginData(); @@ -139,18 +161,35 @@ * @param whitePoints 鐧藉悕鍗曡妭鐐癸紝涓嶉渶瑕佽杩囨护 * @param shuttlePoints 绌挎杞﹁妭鐐癸紝闇�瑕佸姞杞借繘鍦板浘 */ - public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) { + public List<List<MapNode>> filterMap(List<NavigationMapType> mapTypes, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) { //閲嶅缓鏁版嵁鏍煎紡 List<List<MapNode>> lists = rebuildData(arrayList); - //杞藉叆搴撲綅淇℃伅 - lists = loadLocMast(mapType, lists, lev, whitePoints); + List<NavigationMapType> locMapType = new ArrayList<>(); + locMapType.add(NavigationMapType.NONE); + locMapType.add(NavigationMapType.DFX); + locMapType.add(NavigationMapType.NORMAL); + for (NavigationMapType mapType : mapTypes) { + if(locMapType.contains(mapType)) { + //杞藉叆搴撲綅淇℃伅 + lists = loadLocMast(mapType.id, lists, lev, whitePoints); + } - //鍔犺浇杞﹁締 - lists = loadShuttle(lists, shuttlePoints); + if (mapType.equals(NavigationMapType.SHUTTLE)) { + //鍔犺浇杞﹁締 + lists = loadShuttle(lists, shuttlePoints); + } - //鍔犺浇璐у弶鎻愬崌鏈虹偣浣� - lists = loadForkLift(lists, mapType, lev); + if (mapType.equals(NavigationMapType.LIFT)) { + //鍔犺浇璐у弶鎻愬崌鏈虹偣浣� + lists = loadForkLift(lists, lev); + } + + if(mapType.equals(NavigationMapType.PATH_LOCK)) { + //鍔犺浇璺緞閿� + lists = loadPathLock(lists, lev); + } + } //鍔犺浇鐧藉悕鍗曡妭鐐� lists = loadWhite(lists, lev, whitePoints); @@ -225,6 +264,9 @@ } } + mapNode.setLocSts(locMast.getLocSts()); + mapNode.setLocNo(locMast.getLocNo()); + //鏇存柊list list.set(bay, mapNode); lists.set(row, list); @@ -259,7 +301,7 @@ public List<List<MapNode>> loadWhite(List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) { //鍔犺浇鐧藉悕鍗曡妭鐐� if (whitePoints != null) { - List<List<MapNode>> realMap = getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘 + List<List<MapNode>> realMap = getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), 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]; @@ -280,11 +322,13 @@ } //鍔犺浇璐у弶鎻愬崌鏈虹偣浣� - public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer mapType, Integer lev) { + public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer lev) { try { //鍔犺浇璐у弶鎻愬崌鏈烘斁璐х偣浣嶆暟鎹� - for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { - ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId()); + List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() + .eq("device_type", String.valueOf(SlaveType.ForkLift))); + for (DeviceConfig device : forkliftList) { + ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { continue; } @@ -299,16 +343,16 @@ List<MapNode> list = lists.get(row); MapNode mapNode = list.get(bay); - if (mapType == NavigationMapType.DFX.id) { - //杞﹁締鏈夎揣 - if (staProtocol.getHasTray() != null && staProtocol.getHasTray()) { - mapNode.setValue(MapNodeType.DISABLE.id); - } - } else { - if (staProtocol.getHasCar() != null && staProtocol.getHasCar()) { - mapNode.setValue(MapNodeType.CAR.id); - } - } +// if (mapType == NavigationMapType.DFX.id) { +// //杞﹁締鏈夎揣 +// if (staProtocol.getHasTray() != null && staProtocol.getHasTray()) { +// mapNode.setValue(MapNodeType.DISABLE.id); +// } +// } else { +// if (staProtocol.getHasCar() != null && staProtocol.getHasCar()) { +// mapNode.setValue(MapNodeType.CAR.id); +// } +// } //鏇存柊list list.set(bay, mapNode); @@ -322,4 +366,34 @@ return lists; } + //鍔犺浇璺緞閿� + public List<List<MapNode>> loadPathLock(List<List<MapNode>> lists, Integer lev) { + try { + HashMap<String, Object> lockMap = new HashMap<>(); + Object o = redisUtil.get(RedisKeyType.LOCK_MAP_NODES.key + lev); + if (o != null) { + lockMap = (HashMap<String, Object>) o; + } + + for (Map.Entry<String, Object> entry : lockMap.entrySet()) { + String key = entry.getKey(); + int row = Utils.getRow(key); + int bay = Utils.getBay(key); + + List<MapNode> list = lists.get(row); + MapNode mapNode = list.get(bay); + + //鑺傜偣璁剧疆鎴愯矾寰勯攣 + mapNode.setValue(MapNodeType.LOCK.id); + + //鏇存柊list + list.set(bay, mapNode); + lists.set(row, list); + } + } catch (Exception e) { + e.printStackTrace(); + } + return lists; + } + } -- Gitblit v1.9.1