From 82135a39198718fce5821b770dffdea1d2372c2c Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期五, 27 六月 2025 08:48:53 +0800
Subject: [PATCH] 123
---
src/main/java/com/zy/asrs/utils/Utils.java | 342 +++++++++++++++++++++++++++++++++++---------------------
1 files changed, 214 insertions(+), 128 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index 36a0324..e614247 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,136 +1,51 @@
package com.zy.asrs.utils;
+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.LocMast;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.service.WrkMastService;
+import com.zy.common.model.NavigateNode;
+import com.zy.common.model.enums.NavigationMapType;
+import com.zy.common.utils.NavigatePositionConvert;
+import com.zy.common.utils.NavigateUtils;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.ShuttleSlave;
+import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
+import com.zy.core.thread.ShuttleThread;
import java.text.DecimalFormat;
import java.util.ArrayList;
import java.util.List;
-/**
- * Created by vincent on 2020/8/27
- */
public class Utils {
private static final DecimalFormat fmt = new DecimalFormat("##0.00");
- public static float scale(Float f){
+ public static float scale(Float f) {
if (f == null || f == 0f || Float.isNaN(f)) {
return 0f;
}
return (float) Arith.multiplys(2, f, 1);
}
- public static String zerofill(String msg, Integer count){
- if (msg.length() == count){
+ public static String zerofill(String msg, Integer count) {
+ if (msg.length() == count) {
return msg;
- } else if (msg.length() > count){
+ } else if (msg.length() > count) {
return msg.substring(0, 16);
} else {
StringBuilder msgBuilder = new StringBuilder(msg);
- for (int i = 0; i<count-msg.length(); i++){
- msgBuilder.insert(0,"0");
+ for (int i = 0; i < count - msg.length(); i++) {
+ msgBuilder.insert(0, "0");
}
return msgBuilder.toString();
}
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘繁搴撲綅
- */
- public static boolean isDeepLoc(SlaveProperties slaveProperties, String locNo){
- if (slaveProperties.isDoubleDeep()) {
- int row = getRow(locNo);
- return slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘繁搴撲綅
- */
- public static boolean isDeepLoc(SlaveProperties slaveProperties, Integer row){
- if (slaveProperties.isDoubleDeep()) {
- return slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘祬搴撲綅
- */
- public static boolean isShallowLoc(SlaveProperties slaveProperties, String locNo){
- if (slaveProperties.isDoubleDeep()) {
- int row = getRow(locNo);
- return !slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘祬搴撲綅
- */
- public static boolean isShallowLoc(SlaveProperties slaveProperties, Integer row){
- if (slaveProperties.isDoubleDeep()) {
- return !slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鑾峰彇 娣卞簱浣嶅搴旂殑娴呭簱浣嶅彿
- */
- public static String getShallowLoc(SlaveProperties slaveProperties, String deepLoc) {
- int row = getRow(deepLoc);
- int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
- int shallowRow = remainder == 1 ? (row + 1) : (row - 1);
- return zerofill(String.valueOf(shallowRow), 2) + deepLoc.substring(2);
- }
-
- /**
- * 鑾峰彇 娣卞簱浣嶆帓瀵瑰簲鐨勬祬搴撲綅鎺�
- */
- public static Integer getShallowRow(SlaveProperties slaveProperties, Integer deepRow) {
- int remainder = (int) Arith.remainder(deepRow, slaveProperties.getGroupCount());
- return remainder == 1 ? (deepRow + 1) : (deepRow - 1);
- }
-
- /**
- * 鑾峰彇 娴呭簱浣嶅搴旂殑娣卞簱浣嶅彿
- */
- public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
- int row = getRow(shallowLoc);
- int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
- int targetRow;
- if (remainder == 2) {
- targetRow = row - 1;
- } else if (remainder == 3) {
- targetRow = row + 1;
- } else {
- throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
- }
- return zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
- }
-
- /**
- * 鑾峰彇 娴呭簱浣嶆帓瀵瑰簲鐨勬繁搴撲綅鎺�
- */
- public static Integer getDeepRow(SlaveProperties slaveProperties, Integer shallowRow) {
- int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
- int targetRow;
- if (remainder == 2) {
- targetRow = shallowRow - 1;
- } else if (remainder == 3) {
- targetRow = shallowRow + 1;
- } else {
- throw new RuntimeException(shallowRow + "涓嶆槸娴呭簱浣嶆帓锛岀郴缁熺箒蹇�");
- }
- return targetRow;
}
/**
@@ -144,32 +59,203 @@
}
/**
- * 褰撴绱㈠埌鍙屾繁搴撲綅鐨勬祬搴撲綅鏃讹紝濡傛灉娣卞簱浣嶆棤璐э紝鍒欐斁鍏ュ搴旂殑娣卞簱浣�
+ * 閫氳繃搴撲綅鍙疯幏鍙� 鍒�
*/
- public static void toDeepIfEmptyByShallow(String shallowLoc) {
- int row = getRow(shallowLoc);
- int remainder = (int) Arith.remainder(row, 4);
- int targetRow = 0;
- if (remainder == 2) {
- targetRow = row - 1;
- } else if (remainder == 3) {
- targetRow = row + 1;
- } else {
- throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
+ public static int getBay(String locNo) {
+ if (!Cools.isEmpty(locNo)) {
+ return Integer.parseInt(locNo.substring(2, 5));
}
- String targetLoc = zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
-
+ throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
}
- public static void main(String[] args) {
- SlaveProperties slaveProperties = new SlaveProperties();
- slaveProperties.setDoubleDeep(true);
- List<Integer> list = new ArrayList<>();
- list.add(1);list.add(4);list.add(5);list.add(8);list.add(9);list.add(12);
- slaveProperties.setDoubleLocs(list);
- slaveProperties.setGroupCount(4);
- Integer deepRow = getDeepRow(slaveProperties, 6);
- System.out.println(deepRow);
+ /**
+ * 閫氳繃搴撲綅鍙疯幏鍙� 灞�
+ */
+ public static int getLev(String locNo) {
+ if (!Cools.isEmpty(locNo)) {
+ return Integer.parseInt(locNo.substring(5, 7));
+ }
+ throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
+ }
+ public static String getLocNo(Number row, Number bay, Number lev) {
+ return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
+ }
+
+ public static List<String> getGroupLoc(String locNo) {
+ return null;
+ }
+
+ //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 int[] getShuttlePoint(Integer shuttleNo) {
+ //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return null;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return null;
+ }
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ return null;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ return null;
+ }
+ return NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());
+ }
+
+ //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) {
+ 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�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ continue;
+ }
+
+ 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;
+ }
+
+ //妫�娴嬫ゼ灞傛槸鍚︽湁鍙敤绌挎杞�
+ public static boolean checkLevHasShuttle(Integer lev) {
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ continue;
+ }
+
+ //灏忚溅姝ｅ湪鍏呯數
+ if (shuttleThread.isCharging()) {
+ continue;
+ }
+
+ //灏忚溅鏈夊厖鐢典换鍔�
+ WrkMast chargeWorking = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
+ if (chargeWorking != null) {//宸叉湁鍏呯數浠诲姟
+ continue;
+ }
+
+ //灏忚溅澶勪簬鏁呴殰鐘舵��
+ if (shuttleThread.isFault()) {
+ 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�
+ }
+
+ //妫�娴嬪簱浣嶇粍鏄惁瀛樺湪灏忚溅锛屽瓨鍦ㄨ繑鍥炲皬杞﹀彿銆�
+ public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
+ if (groupLoc == null) {
+ return null;
+ }
+
+ if (groupLoc.isEmpty()) {
+ return null;
+ }
+
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ if (slaveProperties == null) {
+ return null;
+ }
+
+ for (String loc : groupLoc) {
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
+ //瀛樺湪灏忚溅
+ return slave.getId();
+ }
+ }
+ }
+
+ return null;
+ }
+
+ //鑾峰彇灏忚溅寰呮満浣�
+ public static String getShuttleStandbyLocNo(String locNo) {
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
+ .eq("loc_type", "standby")
+ .eq("lev1", Utils.getLev(locNo)));
+ if (locMasts.isEmpty()) {
+ return null;
+ }
+
+ Integer recentDistance = Integer.MAX_VALUE;
+ String recentLocNo = null;
+ for (LocMast locMast : locMasts) {
+ //寰呮満浣嶅埌鐩爣鐐硅窛绂�
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(locNo, locMast.getLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(0, Utils.getLev(locNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
+ }
+ Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ if (currentAllDistance < recentDistance) {
+ recentDistance = currentAllDistance;
+ recentLocNo = locMast.getLocNo();
+ }
+ }
+
+ return recentLocNo;
}
}
--
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