From b6428016edf3de843020bc95fd1708d3bb1961e5 Mon Sep 17 00:00:00 2001 From: Junjie <fallin.jie@qq.com> Date: 星期一, 07 七月 2025 16:41:51 +0800 Subject: [PATCH] # --- src/main/java/com/zy/asrs/utils/Utils.java | 82 +++++++++++++++++++++++++++++++++++++++-- 1 files changed, 78 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java index d8dd70e..bf3ea83 100644 --- a/src/main/java/com/zy/asrs/utils/Utils.java +++ b/src/main/java/com/zy/asrs/utils/Utils.java @@ -1,9 +1,17 @@ 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; @@ -13,9 +21,6 @@ import java.text.DecimalFormat; import java.util.*; -/** - * Created by vincent on 2020/8/27 - */ public class Utils { private static final DecimalFormat fmt = new DecimalFormat("##0.00"); @@ -80,6 +85,29 @@ } //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<>(); @@ -116,9 +144,10 @@ return list; } - //妫�娴嬫ゼ灞傛槸鍚︽湁绌挎杞� + //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()); @@ -131,6 +160,22 @@ } 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; } @@ -182,4 +227,33 @@ 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; + } } -- Gitblit v1.9.1