From ff3b5df7015b2f2c5e24d9973a7b443309d8e579 Mon Sep 17 00:00:00 2001 From: Junjie <540245094@qq.com> Date: 星期六, 19 七月 2025 18:07:29 +0800 Subject: [PATCH] # --- src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 93 ++++++++++++++++++++++++++++++++++++---------- 1 files changed, 72 insertions(+), 21 deletions(-) diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java index 4c14010..170dc3e 100644 --- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java +++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java @@ -4,10 +4,13 @@ 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; @@ -18,7 +21,6 @@ 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 +47,15 @@ @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 +63,7 @@ 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); @@ -121,7 +123,7 @@ 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 +146,7 @@ //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); @@ -260,13 +262,15 @@ continue; } - HashMap<String, Integer> carMap = findCarMap(); - String targetLocNo = null; for (NavigateNode node : outerNodes) { String dispatchLocNo = NavigatePositionConvert.nodeToLocNo(node); - if (carMap.containsKey(dispatchLocNo)) { - continue; + //鑾峰彇鍐呭湀鑺傜偣 + List<NavigateNode> avoidInnerNodes = getInnerNodes(dispatchLocNo, innerCircle, new ArrayList<>()); + //璁$畻鍐呭湀鏄惁鏈夊皬杞� + List<Integer> avoidNodesCar = findNodesCar(avoidInnerNodes); + if(!avoidNodesCar.isEmpty()) { + continue; } targetLocNo = dispatchLocNo; break; @@ -283,8 +287,11 @@ 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; } @@ -297,7 +304,7 @@ continue; } - carMap.put(currentLocNo, slave.getId()); + carMap.put(currentLocNo, device.getDeviceNo()); } return carMap; } @@ -324,14 +331,14 @@ 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); for (int i = 0; i < outerCircle; i++) { int idx = i + 1; - List<NavigateNode> list = extend_nodes(map, currentNode, idx); + List<NavigateNode> list = extend_outer_nodes(map, currentNode, idx); if (list.isEmpty()) { continue; } @@ -365,14 +372,14 @@ 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); for (int i = 0; i < innerCircle; i++) { int idx = i + 1; - List<NavigateNode> list = extend_nodes(map, currentNode, idx); + List<NavigateNode> list = extend_inner_nodes(map, currentNode, idx); if (list.isEmpty()) { continue; } @@ -395,7 +402,7 @@ return innerNodes; } - private List<NavigateNode> extend_nodes(int[][] map, NavigateNode startNode, int innerCircleIdx) { + private List<NavigateNode> extend_inner_nodes(int[][] map, NavigateNode startNode, int innerCircleIdx) { //榛樿鍦板浘姣嶈建鏂瑰悜x String mapDirection = "x"; ConfigService configService = SpringUtils.getBean(ConfigService.class); @@ -502,6 +509,50 @@ return nodes; } + private List<NavigateNode> extend_outer_nodes(int[][] map, NavigateNode startNode, int innerCircleIdx) { + ArrayList<NavigateNode> nodes = new ArrayList<>(); + int x = startNode.getX(); + int y = startNode.getY(); + int z = startNode.getZ(); + + if (is_valid(map, x + innerCircleIdx, y)) { + NavigateNode node = new NavigateNode(x + innerCircleIdx, y); + node.setNodeValue(map[x + innerCircleIdx][y]); + node.setZ(z); + if (node.getNodeValue().equals(startNode.getNodeValue())) { + nodes.add(node); + } + } + + if (is_valid(map, x - innerCircleIdx, y)) { + NavigateNode node = new NavigateNode(x - innerCircleIdx, y); + node.setNodeValue(map[x - innerCircleIdx][y]); + node.setZ(z); + if (node.getNodeValue().equals(startNode.getNodeValue())) { + nodes.add(node); + } + } + + if (is_valid(map, x, y + innerCircleIdx)) { + NavigateNode node = new NavigateNode(x, y + innerCircleIdx); + node.setNodeValue(map[x][y + innerCircleIdx]); + node.setZ(z); + if (node.getNodeValue().equals(startNode.getNodeValue())) { + nodes.add(node); + } + } + + if (is_valid(map, x, y - innerCircleIdx)) { + NavigateNode node = new NavigateNode(x, y - innerCircleIdx); + node.setNodeValue(map[x][y - innerCircleIdx]); + node.setZ(z); + if (node.getNodeValue().equals(startNode.getNodeValue())) { + nodes.add(node); + } + } + return nodes; + } + private boolean is_valid(int[][] map, int x, int y) { if (x < 0 || x >= map.length || y < 0 || y >= map[0].length) { -- Gitblit v1.9.1