package com.algo.service;
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import com.algo.config.EnvDataConfig;
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import com.algo.model.*;
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import com.algo.util.JsonUtils;
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import com.algo.util.PathTimeCalculator;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import javax.annotation.PostConstruct;
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import java.util.*;
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import java.util.concurrent.*;
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/**
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* 路径规划服务
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*/
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@Service
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public class PathPlanningService {
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@Autowired
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private EnvDataConfig envDataConfig;
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/**
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* 执行中任务提取
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*/
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private ExecutingTaskExtractor taskExtractor;
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/**
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* 路径规划
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*/
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private PathPlanner pathPlanner;
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/**
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* 碰撞检测
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*/
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private CollisionDetector collisionDetector;
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/**
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* 碰撞解决
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*/
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private CollisionResolver collisionResolver;
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/**
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* 剩余路径处理
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*/
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private RemainingPathProcessor remainingPathProcessor;
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/**
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* 路径时间计算器
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*/
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private PathTimeCalculator timeCalculator;
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/**
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* 线程池
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*/
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private final ExecutorService executorService = Executors.newFixedThreadPool(Math.max(4, Runtime.getRuntime().availableProcessors()));
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/**
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* CTU批处理大小
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*/
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private final int batchSize = 10;
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/**
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* 初始化各个组件
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*/
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@PostConstruct
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public void initializeComponents() {
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// 初始化路径规划器
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this.pathPlanner = new AStarPathPlanner(envDataConfig.getPathMapping());
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// 初始化碰撞检测器
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this.collisionDetector = new CollisionDetector(envDataConfig.getPathMapping());
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// 初始化碰撞解决器
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this.collisionResolver = new CollisionResolver(collisionDetector);
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// 初始化剩余路径处理器
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this.remainingPathProcessor = new RemainingPathProcessor(envDataConfig.getPathMapping());
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// 初始化时间计算器
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Map<String, double[]> realCoordinateMapping = JsonUtils.loadRealCoordinateMapping("man_code.json");
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this.timeCalculator = new PathTimeCalculator(envDataConfig.getPathMapping(), realCoordinateMapping);
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// 为碰撞解决器设置时间计算器
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this.collisionResolver.setTimeCalculator(timeCalculator);
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}
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/**
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* 为所有CTU规划路径
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*
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* @param agvStatusList CTU状态列表
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* @param includeIdleAgv 是否包含空闲CTU
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* @param constraints 路径约束条件
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* @return 路径规划结果
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*/
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public PathPlanningResult planAllAgvPaths(List<TaskData> taskList, List<AGVStatus> agvStatusList,
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boolean includeIdleAgv,
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List<double[]> constraints) {
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// 初始化任务提取器
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this.taskExtractor = new ExecutingTaskExtractor(envDataConfig.getPathMapping(), taskList);
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long startTime = System.currentTimeMillis();
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System.out.println("开始为 " + agvStatusList.size() + " 个CTU规划");
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// 1. 构建现有剩余路径的时空占用表
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System.out.println("步骤1: 构建时空占用表");
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Map<String, String> spaceTimeOccupancyMap = remainingPathProcessor.buildSpaceTimeOccupancyMap(agvStatusList);
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System.out.println("时空占用表构建完成，包含 " + spaceTimeOccupancyMap.size() + " 个占用点");
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// 2. 分类处理CTU：有剩余路径的和需要新路径的
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List<AGVStatus> ctuWithRemainingPaths = new ArrayList<>();
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List<AGVStatus> ctuNeedingNewPaths = new ArrayList<>();
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for (AGVStatus agv : agvStatusList) {
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if (agv.hasRemainingPath()) {
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ctuWithRemainingPaths.add(agv);
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} else if (agv.canAcceptNewTask() || (includeIdleAgv && isAgvIdle(agv))) {
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ctuNeedingNewPaths.add(agv);
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}
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}
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System.out.println("CTU分类完成: 有剩余路径=" + ctuWithRemainingPaths.size() +
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", 需要新路径=" + ctuNeedingNewPaths.size());
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// 3. 处理有剩余路径的CTU
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List<PlannedPath> plannedPaths = new ArrayList<>();
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List<ExecutingTask> executingTasks = new ArrayList<>();
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Map<String, String> plannedAgvIds = new HashMap<>();
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System.out.println("步骤2: 处理有剩余路径的CTU");
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for (AGVStatus agv : ctuWithRemainingPaths) {
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PlannedPath remainingPath = processRemainingPath(agv);
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if (remainingPath != null) {
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plannedPaths.add(remainingPath);
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plannedAgvIds.put(agv.getAgvId(), "REMAINING_PATH");
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// 创建对应的执行任务
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ExecutingTask task = createExecutingTaskFromRemainingPath(agv);
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if (task != null) {
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executingTasks.add(task);
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}
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System.out.println("CTU " + agv.getAgvId() + " 剩余路径处理完成，路径长度: " +
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remainingPath.getCodeList().size());
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}
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}
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// 3.5. 检查空闲AGV是否需要让行
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System.out.println("检查空闲AGV是否需要让行");
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List<AGVStatus> yieldingAgvs = identifyYieldingAgvs(agvStatusList, plannedPaths);
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if (!yieldingAgvs.isEmpty()) {
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System.out.println(" 发现 " + yieldingAgvs.size() + " 个需要让行的空闲AGV");
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for (AGVStatus yieldAgv : yieldingAgvs) {
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PlannedPath yieldPath = planYieldPath(yieldAgv, plannedPaths, spaceTimeOccupancyMap, constraints);
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if (yieldPath != null) {
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plannedPaths.add(yieldPath);
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plannedAgvIds.put(yieldAgv.getAgvId(), "AVOIDING");
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System.out.println(" AGV " + yieldAgv.getAgvId() + " 让行路径规划成功，从 " +
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yieldAgv.getPosition() + " 移开");
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}
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}
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} else {
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System.out.println(" 无需让行的AGV");
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}
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// 4. 为需要新路径的CTU提取执行中任务
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System.out.println("步骤3: 提取需要新路径的CTU任务");
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List<ExecutingTask> newTasks = taskExtractor.extractExecutingTasks(ctuNeedingNewPaths);
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System.out.println("提取到 " + newTasks.size() + " 个新任务");
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// 5. 为新任务规划路径（考虑时空约束）
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System.out.println("步骤4: 为新任务规划路径");
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for (ExecutingTask task : newTasks) {
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String agvId = task.getAgvId();
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String currentPos = task.getCurrentPosition();
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String targetPos = task.getTargetPosition();
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// 避免重复规划
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if (plannedAgvIds.containsKey(agvId)) {
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System.out.println("跳过CTU " + agvId + "：已规划路径");
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continue;
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}
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// 验证位置信息
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if (currentPos == null || targetPos == null) {
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System.out.println("CTU " + agvId + " 位置信息无效，跳过");
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continue;
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}
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// 获取CTU状态信息
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AGVStatus agvStatus = findAgvStatus(agvId, ctuNeedingNewPaths);
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if (agvStatus == null) {
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System.out.println("CTU " + agvId + " 状态信息未找到，跳过");
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continue;
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}
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// 规划时空安全的路径
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PlannedPath plannedPath = planPathWithSpaceTimeConstraints(
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currentPos, targetPos, constraints, spaceTimeOccupancyMap, agvStatus
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);
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if (plannedPath != null) {
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// 设置CTU信息
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plannedPath.setAgvId(agvId);
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plannedPath.setSegId(generateSegId(task.getTaskId(), agvId, task.getTaskType()));
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// 增强路径代码信息
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enhancePathCodes(plannedPath, task);
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plannedPaths.add(plannedPath);
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plannedAgvIds.put(agvId, targetPos);
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executingTasks.add(task);
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// 更新时空占用表
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updateSpaceTimeOccupancyMap(plannedPath, spaceTimeOccupancyMap, agvStatus);
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System.out.println("CTU " + agvId + " 路径规划成功：" + currentPos + " -> " + targetPos +
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"，路径长度: " + plannedPath.getCodeList().size());
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} else {
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System.out.println("CTU " + agvId + " 路径规划失败：" + currentPos + " -> " + targetPos);
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}
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}
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// 6. 处理空闲CTU
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if (includeIdleAgv) {
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System.out.println("步骤5: 处理空闲CTU");
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List<PlannedPath> idlePaths = planIdleAgvPathsWithConstraints(
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ctuNeedingNewPaths, plannedAgvIds, constraints, spaceTimeOccupancyMap
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);
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plannedPaths.addAll(idlePaths);
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System.out.println("空闲CTU路径规划完成，数量: " + idlePaths.size());
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}
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// 7. 最终碰撞检测和解决（针对同时生成的新路径）
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System.out.println("步骤6: 最终碰撞检测");
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List<Conflict> conflicts = collisionDetector.detectConflicts(plannedPaths);
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if (!conflicts.isEmpty()) {
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System.out.println("发现 " + conflicts.size() + " 个碰撞，开始解决");
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plannedPaths = collisionResolver.resolveConflicts(plannedPaths, conflicts, executingTasks);
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// 重新检测冲突
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List<Conflict> remainingConflicts = collisionDetector.detectConflicts(plannedPaths);
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conflicts = remainingConflicts;
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}
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long endTime = System.currentTimeMillis();
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double totalTime = (endTime - startTime) / 1000.0;
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// 构建结果
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PathPlanningResult result = new PathPlanningResult(
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agvStatusList.size(),
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executingTasks.size(),
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plannedPaths.size(),
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totalTime,
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conflicts.size(),
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conflicts.isEmpty(),
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"A*_WITH_SPACETIME_CONSTRAINTS",
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plannedPaths,
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executingTasks
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);
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System.out.println("路径规划完成 - 总CTU: " + result.getTotalAgvs() +
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", 执行任务: " + result.getExecutingTasksCount() +
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", 规划路径: " + result.getPlannedPathsCount() +
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", 耗时: " + result.getTotalPlanningTime() + "s" +
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", 无冲突: " + result.isCollisionFree());
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return result;
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}
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/**
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* 处理CTU的剩余路径
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*
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* @param agv CTU状态
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* @return 处理后的路径
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*/
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private PlannedPath processRemainingPath(AGVStatus agv) {
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if (!agv.hasRemainingPath()) {
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return null;
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}
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PlannedPath remainingPath = agv.getRemainingPath();
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List<PathCode> remainingCodes = new ArrayList<>();
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// 获取剩余路径
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List<PathCode> originalCodes = remainingPath.getCodeList();
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for (int i = agv.getCurrentPathIndex(); i < originalCodes.size(); i++) {
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PathCode originalCode = originalCodes.get(i);
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PathCode newCode = new PathCode(originalCode.getCode(), originalCode.getDirection());
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newCode.setActionType(originalCode.getActionType());
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newCode.setTaskId(originalCode.getTaskId());
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newCode.setPosType(originalCode.getPosType());
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newCode.setLev(originalCode.getLev());
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newCode.setTargetPoint(originalCode.isTargetPoint());
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remainingCodes.add(newCode);
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}
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PlannedPath processedPath = new PlannedPath();
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processedPath.setAgvId(agv.getAgvId());
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processedPath.setCodeList(remainingCodes);
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// 使用输入中的segId，如果没有则生成新的
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String segId = remainingPath.getSegId();
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if (segId == null || segId.trim().isEmpty()) {
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segId = agv.getAgvId() + "_REMAINING_" + System.currentTimeMillis();
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}
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processedPath.setSegId(segId);
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if (timeCalculator != null && !remainingCodes.isEmpty()) {
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// 获取AGV的下一个路径点到达时间作为起始时间
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long startTime = agv.getNextPointArrivalTime();
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CTUPhysicalConfig config = agv.getPhysicalConfig();
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// 估算当前速度（AGV移动中为正常速度；静止为0）
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double initialSpeed = agv.hasRemainingPath() && agv.getRemainingPathLength() > 0
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? config.getNormalSpeed() : 0.0;
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// 计算时间信息
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// arrivalTime, departureTime, cumulativeTime
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timeCalculator.calculatePathTiming(
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processedPath,
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startTime,
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config,
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initialSpeed
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);
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} else {
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System.out.println(" 未能为剩余路径设置时间信息 - AGV: " + agv.getAgvId());
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}
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return processedPath;
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}
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/**
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* 从剩余路径创建执行任务
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*
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* @param agv CTU状态
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* @return 执行任务
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*/
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private ExecutingTask createExecutingTaskFromRemainingPath(AGVStatus agv) {
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if (!agv.hasRemainingPath()) {
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return null;
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}
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PlannedPath remainingPath = agv.getRemainingPath();
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List<PathCode> codeList = remainingPath.getCodeList();
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if (codeList.isEmpty() || agv.getCurrentPathIndex() >= codeList.size()) {
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return null;
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}
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// 获取当前位置和目标位置
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PathCode currentCode = codeList.get(agv.getCurrentPathIndex());
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PathCode targetCode = codeList.get(codeList.size() - 1);
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ExecutingTask task = new ExecutingTask();
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task.setAgvId(agv.getAgvId());
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task.setTaskId(remainingPath.getSegId());
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task.setCurrentPosition(currentCode.getCode());
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task.setTargetPosition(targetCode.getCode());
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task.setTaskType("remaining");
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task.setLoaded(false); // 假设值
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task.setBackpackIndex(0);
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task.setPriority(1);
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return task;
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}
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/**
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* 规划带时空约束的路径
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*
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* @param startPos 起始位置
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* @param endPos 目标位置
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* @param constraints 约束条件
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* @param occupancyMap 时空占用表
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* @param agvStatus CTU状态
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* @return 规划的路径
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*/
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private PlannedPath planPathWithSpaceTimeConstraints(String startPos, String endPos,
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List<double[]> constraints,
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Map<String, String> occupancyMap,
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AGVStatus agvStatus) {
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// 尝试基本路径规划
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PlannedPath basicPath = pathPlanner.planPath(startPos, endPos, constraints);
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if (basicPath == null) {
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return null;
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}
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// 找到安全的起始时间
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long safeStartTime = remainingPathProcessor.findSafeStartTime(
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basicPath, occupancyMap, agvStatus.getPhysicalConfig()
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);
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// 使用统一的时间计算器设置精确的时间信息
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timeCalculator.calculatePathTiming(basicPath, safeStartTime, agvStatus.getPhysicalConfig(), 0.0);
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return basicPath;
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}
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/**
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* 路径的时间信息
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*
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* @param path 路径
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* @param startTime 起始时间
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* @param config 物理配置
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*/
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private void enhancePathWithTimeInfo(PlannedPath path, long startTime, CTUPhysicalConfig config) {
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List<PathCode> codeList = path.getCodeList();
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if (codeList == null || codeList.isEmpty()) {
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return;
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}
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long currentTime = startTime;
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for (int i = 0; i < codeList.size(); i++) {
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PathCode pathCode = codeList.get(i);
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// 设置预计到达时间
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// 计算到下一个点的时间
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if (i < codeList.size() - 1) {
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double travelTime = config.getStandardPointDistance() / config.getNormalSpeed();
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currentTime += (long) (travelTime * 1000);
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// 如果有方向变化，增加转向时间
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PathCode nextCode = codeList.get(i + 1);
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// 添加null检查
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if (pathCode.getDirection() != null && nextCode.getDirection() != null) {
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if (!pathCode.getDirection().equals(nextCode.getDirection())) {
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double turnTime = config.getTurnTime(pathCode.getDirection(), nextCode.getDirection());
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currentTime += (long) (turnTime * 1000);
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}
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}
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}
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}
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}
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/**
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* 更新时空占用表
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*
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* @param path 新路径
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* @param occupancyMap 占用表
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* @param agvStatus CTU状态
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*/
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private void updateSpaceTimeOccupancyMap(PlannedPath path, Map<String, String> occupancyMap,
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AGVStatus agvStatus) {
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// 将新路径添加到占用表中
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List<PathCode> codeList = path.getCodeList();
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CTUPhysicalConfig config = agvStatus.getPhysicalConfig();
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long currentTime = System.currentTimeMillis() / 1000; // 转换为秒
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for (PathCode pathCode : codeList) {
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int[] coord = JsonUtils.getCoordinate(pathCode.getCode(), envDataConfig.getPathMapping());
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if (coord != null) {
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String spaceTimeKey = coord[0] + "," + coord[1] + "," + currentTime;
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occupancyMap.put(spaceTimeKey, agvStatus.getAgvId());
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currentTime += 2; // 假设每个点停留2秒
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}
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}
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}
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/**
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* 查找CTU状态
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*
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* @param agvId CTU编号
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* @param agvList CTU列表
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* @return CTU状态
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*/
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private AGVStatus findAgvStatus(String agvId, List<AGVStatus> agvList) {
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for (AGVStatus agv : agvList) {
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if (agv.getAgvId().equals(agvId)) {
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return agv;
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}
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}
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return null;
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}
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/**
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* 规划带约束的空闲CTU路径
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*
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* @param agvStatusList CTU状态列表
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* @param plannedAgvIds 已规划CTU映射
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* @param constraints 约束条件
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* @param occupancyMap 时空占用表
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* @return 空闲CTU路径列表
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*/
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private List<PlannedPath> planIdleAgvPathsWithConstraints(List<AGVStatus> agvStatusList,
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Map<String, String> plannedAgvIds,
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List<double[]> constraints,
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Map<String, String> occupancyMap) {
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List<PlannedPath> idlePaths = new ArrayList<>();
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for (AGVStatus agvStatus : agvStatusList) {
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String agvId = agvStatus.getAgvId();
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// 跳过已规划的CTU
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if (plannedAgvIds.containsKey(agvId)) {
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continue;
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}
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// 检查CTU是否空闲
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if (isAgvIdle(agvStatus)) {
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String currentPos = agvStatus.getPosition();
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String targetPos = getIdleAgvTarget(agvId, currentPos);
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if (targetPos != null && !targetPos.equals(currentPos)) {
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PlannedPath idlePath = planPathWithSpaceTimeConstraints(
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currentPos, targetPos, constraints, occupancyMap, agvStatus
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);
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if (idlePath != null) {
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idlePath.setAgvId(agvId);
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idlePath.setSegId(generateSegId("IDLE", agvId, "idle"));
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// 设置空闲路径的代码信息
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enhanceIdlePathCodes(idlePath, agvStatus);
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idlePaths.add(idlePath);
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plannedAgvIds.put(agvId, targetPos);
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// 更新占用表
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updateSpaceTimeOccupancyMap(idlePath, occupancyMap, agvStatus);
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System.out.println("空闲CTU " + agvId + " 路径规划成功：" + currentPos + " -> " + targetPos);
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}
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}
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}
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}
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return idlePaths;
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}
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/**
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* 路径代码信息
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*
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* @param plannedPath 规划路径
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* @param task 执行任务
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*/
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private void enhancePathCodes(PlannedPath plannedPath, ExecutingTask task) {
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List<PathCode> codeList = plannedPath.getCodeList();
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if (codeList == null || codeList.isEmpty()) {
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return;
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}
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String actionType = "2"; // 任务类型
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String taskId = task.getTaskId();
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int backpackLevel = task.getBackpackIndex();
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for (int i = 0; i < codeList.size(); i++) {
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PathCode pathCode = codeList.get(i);
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// 设置基本信息
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pathCode.setActionType(actionType);
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pathCode.setTaskId(taskId);
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pathCode.setLev(backpackLevel);
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// 设置目标点信息
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if (i == codeList.size() - 1) { // 最后一个点
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pathCode.setTargetPoint(true);
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if (task.isLoaded()) {
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pathCode.setPosType("2"); // 放货
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} else {
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pathCode.setPosType("1"); // 取货
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}
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} else {
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pathCode.setTargetPoint(false);
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pathCode.setPosType(null);
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}
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}
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}
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|
/**
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* 空闲路径代码信息
|
*
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* @param plannedPath 规划路径
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* @param agvStatus CTU状态
|
*/
|
private void enhanceIdlePathCodes(PlannedPath plannedPath, AGVStatus agvStatus) {
|
List<PathCode> codeList = plannedPath.getCodeList();
|
if (codeList == null || codeList.isEmpty()) {
|
return;
|
}
|
|
String actionType = agvStatus.needsCharging() ? "3" : "4"; // 充电或待机
|
|
for (PathCode pathCode : codeList) {
|
pathCode.setActionType(actionType);
|
pathCode.setTaskId(null);
|
pathCode.setPosType(null);
|
pathCode.setLev(0);
|
pathCode.setTargetPoint(false);
|
}
|
}
|
|
/**
|
* 判断CTU是否空闲
|
*
|
* @param agvStatus CTU状态
|
* @return true如果CTU空闲
|
*/
|
private boolean isAgvIdle(AGVStatus agvStatus) {
|
if (!agvStatus.isAvailable()) {
|
return false;
|
}
|
|
// 检查背篓是否有执行中的任务
|
List<BackpackData> backpack = agvStatus.getBackpack();
|
if (backpack != null) {
|
for (BackpackData bp : backpack) {
|
if (bp.getTaskId() != null && !bp.getTaskId().trim().isEmpty()) {
|
return false;
|
}
|
}
|
}
|
|
return true;
|
}
|
|
/**
|
* 获取空闲CTU的目标位置
|
*
|
* @param agvId CTU编号
|
* @param currentPosition 当前位置
|
* @return 目标位置
|
*/
|
private String getIdleAgvTarget(String agvId, String currentPosition) {
|
// 根据CTU ID的哈希值选择位置
|
int hashValue = Math.abs(agvId.hashCode() % 1000);
|
|
// 优先选择充电位置
|
List<String> chargingPositions = taskExtractor.getChargingPositions();
|
if (!chargingPositions.isEmpty()) {
|
for (String pos : chargingPositions) {
|
if (!pos.equals(currentPosition)) {
|
return pos;
|
}
|
}
|
}
|
|
// 其次选择待机位置
|
List<String> standbyPositions = taskExtractor.getStandbyPositions();
|
if (!standbyPositions.isEmpty()) {
|
return standbyPositions.get(hashValue % standbyPositions.size());
|
}
|
|
return null;
|
}
|
|
/**
|
* 生成段落ID
|
*
|
* @param taskId 任务ID
|
* @param agvId CTU编号
|
* @param taskType 任务类型
|
* @return 段落ID
|
*/
|
private String generateSegId(String taskId, String agvId, String taskType) {
|
return taskId + "_" + agvId + "_" + taskType;
|
}
|
|
/**
|
* 识别需要让行的AGV
|
* 检查空闲AGV是否占用了其他AGV剩余路径上的位置
|
*
|
* @param agvStatusList 所有AGV状态列表
|
* @param plannedPaths 已规划的路径列表（包含剩余路径）
|
* @return 需要让行的AGV列表
|
*/
|
private List<AGVStatus> identifyYieldingAgvs(List<AGVStatus> agvStatusList, List<PlannedPath> plannedPaths) {
|
List<AGVStatus> yieldingAgvs = new ArrayList<>();
|
|
// 收集所有已规划路径上的位置
|
Set<String> occupiedPositions = new HashSet<>();
|
for (PlannedPath path : plannedPaths) {
|
if (path.getCodeList() != null) {
|
for (PathCode code : path.getCodeList()) {
|
if (code.getCode() != null) {
|
occupiedPositions.add(code.getCode());
|
}
|
}
|
}
|
}
|
|
// 检查每个AGV
|
for (AGVStatus agv : agvStatusList) {
|
// 如果这个AGV已经有剩余路径，跳过（已在任务）
|
if (agv.hasRemainingPath()) {
|
continue;
|
}
|
|
// 检查AGV是否有位置信息
|
if (agv.getPosition() == null || agv.getPosition().trim().isEmpty()) {
|
continue;
|
}
|
|
// 检查AGV是否是空闲状态（status=0）
|
// 只要没有剩余路径且有位置，就检查是否需要让行
|
int status = agv.getStatus();
|
if (status != 0) {
|
// status=1或2（问题或忙碌）等其他状态跳过
|
continue;
|
}
|
|
// 检查该AGV的位置是否在其他AGV的路径上
|
String currentPos = agv.getPosition();
|
if (occupiedPositions.contains(currentPos)) {
|
System.out.println(" CTU " + agv.getAgvId() +
|
" (status=" + status + ") 在位置 " + currentPos + " 占用了其他CTU路径，需要让行");
|
yieldingAgvs.add(agv);
|
}
|
}
|
|
return yieldingAgvs;
|
}
|
|
/**
|
* 为让行AGV规划避让路径
|
*
|
* @param yieldAgv 需要让行的AGV
|
* @param existingPaths 已存在的路径列表
|
* @param occupancyMap 时空占用表
|
* @param constraints 路径约束
|
* @return 让行路径
|
*/
|
private PlannedPath planYieldPath(AGVStatus yieldAgv, List<PlannedPath> existingPaths,
|
Map<String, String> occupancyMap, List<double[]> constraints) {
|
String currentPos = yieldAgv.getPosition();
|
String agvId = yieldAgv.getAgvId();
|
|
// 1. 找到安全的目标位置
|
Set<String> blockedPositions = new HashSet<>();
|
for (PlannedPath path : existingPaths) {
|
if (path.getCodeList() != null) {
|
for (PathCode code : path.getCodeList()) {
|
if (code.getCode() != null) {
|
blockedPositions.add(code.getCode());
|
}
|
}
|
}
|
}
|
|
// 2. 寻找合适让行目标位置
|
String targetPos = findYieldTargetPosition(currentPos, blockedPositions, yieldAgv);
|
|
if (targetPos == null || targetPos.equals(currentPos)) {
|
System.out.println(" AGV " + agvId + " 无法找到合适的让行位置");
|
return null;
|
}
|
|
// 3. 规划避让路径
|
PlannedPath yieldPath = planPathWithSpaceTimeConstraints(
|
currentPos, targetPos, constraints, occupancyMap, yieldAgv
|
);
|
|
if (yieldPath != null) {
|
yieldPath.setAgvId(agvId);
|
yieldPath.setSegId(generateSegId("AVOID", agvId, "avoiding"));
|
|
// 设置路径代码信息
|
enhancePathCodesForYielding(yieldPath);
|
|
// 更新占用表
|
updateSpaceTimeOccupancyMap(yieldPath, occupancyMap, yieldAgv);
|
}
|
|
return yieldPath;
|
}
|
|
/**
|
* 寻找让行的目标位置
|
*/
|
private String findYieldTargetPosition(String currentPos, Set<String> blockedPositions, AGVStatus agv) {
|
// 使用BFS搜索最近的空闲位置
|
final int MAX_SEARCH_DEPTH = 10;
|
|
Queue<String> queue = new LinkedList<>();
|
Map<String, Integer> visited = new HashMap<>(); // 记录位置和距离
|
|
queue.offer(currentPos);
|
visited.put(currentPos, 0);
|
|
while (!queue.isEmpty()) {
|
String pos = queue.poll();
|
int depth = visited.get(pos);
|
|
if (depth >= MAX_SEARCH_DEPTH) {
|
break;
|
}
|
|
List<Map<String, String>> neighbors = pathPlanner.getNeighbors(pos);
|
for (Map<String, String> neighbor : neighbors) {
|
String neighborPos = neighbor.get("code");
|
|
if (neighborPos == null || visited.containsKey(neighborPos)) {
|
continue;
|
}
|
|
// 找到一个未被占用的位置
|
if (!blockedPositions.contains(neighborPos)) {
|
System.out.println(" 找到避让位置: " + neighborPos + " (距离=" + (depth + 1) + "步)");
|
return neighborPos;
|
}
|
|
// 加入队列继续搜索
|
queue.offer(neighborPos);
|
visited.put(neighborPos, depth + 1);
|
}
|
}
|
|
System.out.println(" 未找到合适的避让位置 ");
|
return null;
|
}
|
|
private void enhancePathCodesForYielding(PlannedPath yieldPath) {
|
if (yieldPath == null || yieldPath.getCodeList() == null) {
|
return;
|
}
|
|
List<PathCode> codes = yieldPath.getCodeList();
|
for (int i = 0; i < codes.size(); i++) {
|
PathCode code = codes.get(i);
|
code.setActionType("0");
|
code.setPosType(null);
|
code.setLev(0);
|
code.setTargetPoint(i == codes.size() - 1);
|
}
|
}
|
|
/**
|
* 路径规划结果类
|
*/
|
public static class PathPlanningResult {
|
private int totalAgvs;
|
private int executingTasksCount;
|
private int plannedPathsCount;
|
private double totalPlanningTime;
|
private int conflictsDetected;
|
private boolean collisionFree;
|
private String algorithm;
|
private List<PlannedPath> plannedPaths;
|
private List<ExecutingTask> executingTasks;
|
|
public PathPlanningResult(int totalAgvs, int executingTasksCount, int plannedPathsCount,
|
double totalPlanningTime, int conflictsDetected, boolean collisionFree,
|
String algorithm, List<PlannedPath> plannedPaths, List<ExecutingTask> executingTasks) {
|
this.totalAgvs = totalAgvs;
|
this.executingTasksCount = executingTasksCount;
|
this.plannedPathsCount = plannedPathsCount;
|
this.totalPlanningTime = totalPlanningTime;
|
this.conflictsDetected = conflictsDetected;
|
this.collisionFree = collisionFree;
|
this.algorithm = algorithm;
|
this.plannedPaths = plannedPaths;
|
this.executingTasks = executingTasks;
|
}
|
|
// Getter方法
|
public int getTotalAgvs() {
|
return totalAgvs;
|
}
|
|
public int getExecutingTasksCount() {
|
return executingTasksCount;
|
}
|
|
public int getPlannedPathsCount() {
|
return plannedPathsCount;
|
}
|
|
public double getTotalPlanningTime() {
|
return totalPlanningTime;
|
}
|
|
public int getConflictsDetected() {
|
return conflictsDetected;
|
}
|
|
public boolean isCollisionFree() {
|
return collisionFree;
|
}
|
|
public String getAlgorithm() {
|
return algorithm;
|
}
|
|
public List<PlannedPath> getPlannedPaths() {
|
return plannedPaths;
|
}
|
|
public List<ExecutingTask> getExecutingTasks() {
|
return executingTasks;
|
}
|
|
@Override
|
public String toString() {
|
return "PathPlanningResult{" +
|
"totalAgvs=" + totalAgvs +
|
", executingTasksCount=" + executingTasksCount +
|
", plannedPathsCount=" + plannedPathsCount +
|
", executingTasksCount=" + executingTasksCount +
|
", totalPlanningTime=" + totalPlanningTime +
|
", conflictsDetected=" + conflictsDetected +
|
", collisionFree=" + executingTasksCount +
|
", algorithm=" + algorithm +
|
", plannedPaths=" + plannedPaths +
|
", executingTasks='" + executingTasks + '\'' +
|
'}';
|
}
|
}
|
|
/**
|
* 并行规划任务路径
|
*/
|
private List<PlannedPath> planTasksInParallel(List<ExecutingTask> tasks,
|
List<double[]> constraints,
|
Map<String, String> spaceTimeOccupancyMap,
|
List<AGVStatus> agvStatusList) {
|
|
List<PlannedPath> allPaths = Collections.synchronizedList(new ArrayList<>());
|
|
// 按优先级排序任务
|
List<ExecutingTask> sortedTasks = new ArrayList<>(tasks);
|
sortedTasks.sort((t1, t2) -> Integer.compare(t2.getPriority(), t1.getPriority()));
|
|
// 分批处理
|
List<List<ExecutingTask>> batches = createBatches(sortedTasks, batchSize);
|
|
for (int batchIndex = 0; batchIndex < batches.size(); batchIndex++) {
|
List<ExecutingTask> batch = batches.get(batchIndex);
|
|
System.out.println("处理批次 " + (batchIndex + 1) + "/" + batches.size() +
|
", 任务数: " + batch.size());
|
|
List<Future<PlannedPath>> futures = new ArrayList<>();
|
|
for (ExecutingTask task : batch) {
|
Future<PlannedPath> future = executorService.submit(() -> {
|
return planSingleTaskPath(task, constraints, spaceTimeOccupancyMap, agvStatusList);
|
});
|
futures.add(future);
|
}
|
|
for (Future<PlannedPath> future : futures) {
|
try {
|
PlannedPath path = future.get(60, TimeUnit.SECONDS);
|
if (path != null) {
|
allPaths.add(path);
|
System.out.println("CTU " + path.getAgvId() + " 路径规划成功");
|
}
|
} catch (TimeoutException e) {
|
System.out.println("路径规划超时，跳过");
|
future.cancel(true);
|
} catch (Exception e) {
|
System.out.println("路径规划异常: " + e.getMessage());
|
}
|
}
|
}
|
|
return allPaths;
|
}
|
|
/**
|
* 为单个任务规划路径
|
*/
|
private PlannedPath planSingleTaskPath(ExecutingTask task,
|
List<double[]> constraints,
|
Map<String, String> spaceTimeOccupancyMap,
|
List<AGVStatus> agvStatusList) {
|
|
String agvId = task.getAgvId();
|
String currentPos = task.getCurrentPosition();
|
String targetPos = task.getTargetPosition();
|
|
if (currentPos == null || targetPos == null) {
|
return null;
|
}
|
|
// 获取CTU状态信息
|
AGVStatus agvStatus = findAgvStatus(agvId, agvStatusList);
|
if (agvStatus == null) {
|
return null;
|
}
|
|
// 规划时空安全的路径
|
PlannedPath plannedPath = planPathWithSpaceTimeConstraints(
|
currentPos, targetPos, constraints, spaceTimeOccupancyMap, agvStatus
|
);
|
|
if (plannedPath != null) {
|
// 设置CTU信息
|
plannedPath.setAgvId(agvId);
|
plannedPath.setSegId(generateSegId(task.getTaskId(), agvId, task.getTaskType()));
|
|
enhancePathCodes(plannedPath, task);
|
}
|
|
return plannedPath;
|
}
|
|
/**
|
* 创建批次
|
*/
|
private List<List<ExecutingTask>> createBatches(List<ExecutingTask> tasks, int batchSize) {
|
List<List<ExecutingTask>> batches = new ArrayList<>();
|
|
for (int i = 0; i < tasks.size(); i += batchSize) {
|
int end = Math.min(i + batchSize, tasks.size());
|
batches.add(new ArrayList<>(tasks.subList(i, end)));
|
}
|
|
return batches;
|
}
|
|
/**
|
* 关闭服务
|
*/
|
public void shutdown() {
|
if (executorService != null && !executorService.isShutdown()) {
|
executorService.shutdown();
|
try {
|
if (!executorService.awaitTermination(10, TimeUnit.SECONDS)) {
|
executorService.shutdownNow();
|
}
|
} catch (InterruptedException e) {
|
executorService.shutdownNow();
|
Thread.currentThread().interrupt();
|
}
|
}
|
}
|
}
|
