package com.zy.acs.manager.core.service;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.common.utils.Utils;
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import com.zy.acs.manager.common.utils.MapDataUtils;
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import com.zy.acs.manager.core.constant.MapDataConstant;
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import com.zy.acs.manager.core.service.astart.DynamicNodeType;
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import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
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import com.zy.acs.manager.core.service.astart.NavigateNode;
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import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
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import com.zy.acs.manager.manager.entity.Agv;
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import com.zy.acs.manager.manager.entity.AgvDetail;
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import com.zy.acs.manager.manager.entity.AgvModel;
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import com.zy.acs.manager.manager.entity.Code;
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import com.zy.acs.manager.manager.service.AgvDetailService;
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import com.zy.acs.manager.manager.service.AgvModelService;
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import com.zy.acs.manager.manager.service.AgvService;
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import com.zy.acs.manager.manager.service.CodeService;
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import lombok.extern.slf4j.Slf4j;
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import org.apache.commons.lang.time.StopWatch;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import javax.annotation.PostConstruct;
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import javax.annotation.PreDestroy;
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import java.util.List;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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import java.util.concurrent.TimeUnit;
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import java.util.concurrent.locks.ReentrantLock;
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/**
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* Created by vincent on 8/6/2024
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*/
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@Slf4j
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@Component
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public class AvoidWaveCalculator {
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private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
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private static final int LOCK_TIMEOUT = 5;
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private ExecutorService singleThreadExecutor;
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@Autowired
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private MapDataDispatcher mapDataDispatcher;
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private MapService mapService;
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@PostConstruct
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@SuppressWarnings("all")
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public void execute() {
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this.singleThreadExecutor = Executors.newSingleThreadExecutor();
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this.singleThreadExecutor.execute(() -> {
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try { Thread.sleep(200); } catch (InterruptedException ignore) {}
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this.calcDynamicNodeWhenBoot();
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// while (!Thread.currentThread().isInterrupted()) {
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//
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// this.calcWaveScope();
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//
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// try { Thread.sleep(500); } catch (InterruptedException ignore) {}
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// }
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});
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}
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public void calcWaveScope() {
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Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
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boolean lockAcquired = false;
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StopWatch stopWatch = new StopWatch();
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stopWatch.start();
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try {
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if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
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log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
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return;
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}
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String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
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String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
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// vehicle
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// for (Agv agv : agvService.list(new LambdaQueryWrapper<>())) {
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// AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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// AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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// Code code = codeService.getById(agvDetail.getRecentCode());
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//
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// Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
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// List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, code.getData(), avoidDistance);
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//
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// for (NavigateNode navigateNode : includeList) {
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// String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
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// waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
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// }
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//
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// }
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// lock path
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DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
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for (int i = 0; i < dynamicMatrix.length; i++) {
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for (int j = 0; j < dynamicMatrix[i].length; j++) {
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DynamicNode dynamicNode = dynamicMatrix[i][j];
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String vehicle = dynamicNode.getVehicle();
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if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
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AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel()); // can be optimized
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Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
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List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
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for (NavigateNode navigateNode : includeList) {
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String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
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waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
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}
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}
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}
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}
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// mapDataDispatcher.printMatrix(waveMatrix);
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mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
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} catch (Exception e) {
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log.error(this.getClass().getSimpleName(), e);
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} finally {
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if (lockAcquired) {
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lock.unlock();
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}
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stopWatch.stop();
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if (stopWatch.getTime() > 100) {
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log.info("滤波函数花费时间为：{}毫秒......", stopWatch.getTime());
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}
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}
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}
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public void syncWaveBySingleVeh(String agvNo, String codeData) {
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if (Cools.isEmpty(agvNo, codeData)) {
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return;
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}
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boolean lockAcquired = false;
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Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
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try {
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if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
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log.warn("AvoidWaveCalculator syncWaveBySingleVeh fail, cause can not acquire lock ...");
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return;
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}
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Agv agv = agvService.selectByUuid(agvNo);
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AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
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String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
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List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, avoidDistance);
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for (NavigateNode navigateNode : includeList) {
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String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
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waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
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}
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mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
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} catch (Exception e) {
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log.error("AvoidWaveCalculator.syncWaveBySingleVeh fail", e);
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} finally {
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if (lockAcquired) {
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lock.unlock();
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}
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}
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}
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public void calcDynamicNodeWhenBoot() {
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
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DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
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for (Agv agv : agvList) {
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calcDynamicNodeByVehicle(agv, dynamicMatrix);
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}
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}
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public void calcDynamicNodeByVehicle(Agv agv, DynamicNode[][] dynamicMatrix) {
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if (null == dynamicMatrix) {
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dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
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}
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail) {
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return;
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}
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if (agvDetail.getPos() == null) {
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return;
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}
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Long recentCode = agvDetail.getRecentCode();
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if (null == recentCode) {
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return;
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}
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Code code = codeService.getById(recentCode);
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if (null == code) {
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return;
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}
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int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, code.getData());
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DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
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String vehicle = dynamicNode.getVehicle();
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if (vehicle.equals(DynamicNodeType.ACCESS.val)) {
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mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(code.getData()), agv.getUuid());
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}
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}
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@PreDestroy
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public void destroy() {
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this.singleThreadExecutor.shutdownNow();
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}
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}
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