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/ShuttleOperaUtils.java | 45 ++++++++++++++++++++++++++-------------------
1 files changed, 26 insertions(+), 19 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 45f6a71..171640f 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -4,21 +4,22 @@
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
+import com.zy.common.model.enums.NavigationMapType;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.MapNodeType;
import com.zy.core.enums.ShuttleRunDirection;
import com.zy.core.enums.SlaveType;
-import com.zy.core.model.ShuttleSlave;
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 com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
@@ -45,15 +46,15 @@
@Autowired
private ConfigService configService;
@Autowired
- private SlaveProperties slaveProperties;
- @Autowired
private ShuttleDispatchUtils shuttleDispatchUtils;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
- public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
- return getStartToTargetCommands(startLocNo, endLocNo, mapType, null, assignCommand, shuttleThread);
+ public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ return getStartToTargetCommands(startLocNo, endLocNo, mapTypes, null, assignCommand, shuttleThread);
}
- public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, Integer mapType, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
return null;
@@ -61,7 +62,7 @@
Integer shuttleNo = shuttleProtocol.getShuttleNo();
//鑾峰彇灏忚溅绉诲姩閫熷害
Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
- List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
+ List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
if (nodeList == null) {
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
@@ -89,11 +90,14 @@
lockNode.add(node.clone());
}
+ long startTime = System.currentTimeMillis();
List<ShuttleCommand> commands = new ArrayList<>();
//鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
+ List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
+ long endTime = System.currentTimeMillis();
+ News.info("getSection path time:{}", (endTime - startTime));
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (ArrayList<NavigateNode> nodes : data) {
+ for (List<NavigateNode> nodes : data) {
//寮�濮嬭矾寰�
NavigateNode startPath = nodes.get(0);
@@ -121,7 +125,7 @@
return commands;
}
- public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
NavigateNode startNode = NavigatePositionConvert.locNoToNode(startLocNo);
NavigateNode endNode = NavigatePositionConvert.locNoToNode(endLocNo);
List<NavigateNode> unlockPath = new ArrayList<>();
@@ -144,7 +148,7 @@
//鑾峰彇灏忚溅绉诲姩閫熷害
Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
- List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
+ List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
if (nodeList == null) {
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
@@ -158,9 +162,9 @@
List<ShuttleCommand> commands = new ArrayList<>();
//鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
+ List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (ArrayList<NavigateNode> nodes : data) {
+ for (List<NavigateNode> nodes : data) {
//寮�濮嬭矾寰�
NavigateNode startPath = nodes.get(0);
@@ -285,8 +289,11 @@
private HashMap<String, Integer> findCarMap() {
HashMap<String, Integer> carMap = new HashMap<>();
- for (ShuttleSlave slave : slaveProperties.getShuttle()) {
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
if (shuttleThread == null) {
continue;
}
@@ -299,7 +306,7 @@
continue;
}
- carMap.put(currentLocNo, slave.getId());
+ carMap.put(currentLocNo, device.getDeviceNo());
}
return carMap;
}
@@ -326,7 +333,7 @@
NavigateNode currentNode = new NavigateNode(pointArr[0], pointArr[1]);
currentNode.setZ(lev);
- List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘
+ List<List<MapNode>> lists = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//鑾峰彇瀹屾暣鍦板浘
int[][] map = navigateMapData.parseJsonDataArr(lists);
int nodeValue = map[pointArr[0]][pointArr[1]];
currentNode.setNodeValue(nodeValue);
@@ -367,7 +374,7 @@
currentNode.setZ(lev);
innerNodes.add(currentNode);
- List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘
+ List<List<MapNode>> lists = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//鑾峰彇瀹屾暣鍦板浘
int[][] map = navigateMapData.parseJsonDataArr(lists);
int nodeValue = map[pointArr[0]][pointArr[1]];
currentNode.setNodeValue(nodeValue);
--
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