package com.zy.acs.manager.core.service.astart;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.manager.common.utils.MapDataUtils;
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import com.zy.acs.manager.core.domain.Lane;
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import com.zy.acs.manager.core.service.LaneService;
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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.Route;
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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 com.zy.acs.manager.manager.service.RouteService;
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import com.zy.acs.manager.system.service.ConfigService;
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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 java.util.*;
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/**
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* Created by vincent on 6/12/2024
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*/
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@Service
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public class AStarNavigateService {
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
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@Autowired
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private CodeService codeService;
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@Autowired
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private RouteService routeService;
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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 LaneService laneService;
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@Autowired
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private ConfigService configService;
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public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
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, Boolean lock, List<String> blackList) {
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if (start.getX() == end.getX() && start.getY() == end.getY()) {
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return end;
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}
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Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
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PriorityQueue<NavigateNode> openQueue = new PriorityQueue<>();
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ArrayList<NavigateNode> existNodes = new ArrayList<>();
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openQueue.add(start);
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existNodes.add(start);
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int[][] mapMatrix = mapDataDispatcher.getMapMatrix(null, null);
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DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
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String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
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// List<String> included = new ArrayList<>();
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// if (!Cools.isEmpty(whiteList)) {
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// included.addAll(whiteList);
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// }
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// included.add(agvNo);
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// List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);
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while (openQueue.size() > 0) {
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// 取优先队列顶部元素并且把这个元素从Open表中删除，取F值最小的节点
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NavigateNode currentNode = openQueue.poll();
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// 对当前结点进行扩展，得到一个四周结点的数组
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ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
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// 对这个结点遍历，看是否有目标结点出现
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label: for (NavigateNode node : neighbourNodes) {
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// 节点存在其他车辆
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// for (VehicleDto vehicleDto : vehicleDtoList) {
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// if (node.getCodeData().equals(vehicleDto.getPosCode())) {
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// if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
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// continue label;
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// }
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// if (lock) {
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// continue label;
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// }
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// }
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// }
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// 节点被占用
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DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
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String vehicle = dynamicNode.getVehicle();
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assert !vehicle.equals(DynamicNodeType.BLOCK.val);
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if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
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if (!vehicle.equals(agvNo)) {
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if (!Cools.isEmpty(blackList) && blackList.contains(vehicle)) {
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continue;
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}
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if (lock) {
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continue;
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}
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}
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}
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// 避障波
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String waveNode = waveMatrix[node.getX()][node.getY()];
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assert !waveNode.equals(WaveNodeType.DISABLE.val);
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if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
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List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
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List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
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if (!Cools.isEmpty(otherWaveList)) {
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if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
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continue;
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}
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if (lock) {
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continue;
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}
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}
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}
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// 单巷道车辆容载数量
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Lane lane = laneService.search(node.getCodeData());
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if (null != lane) {
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Set<String> lanVehicleSet = new HashSet<>();
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List<String> laneCodes = lane.getCodes();
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for (String laneCodeData : laneCodes) {
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int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
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// scan dynamicMatrix or WaveMatrix
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DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
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String laneVehicle = laneDynamicNode.getVehicle();
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assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
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if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
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if (!laneVehicle.equals(agvNo)) {
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lanVehicleSet.add(laneVehicle);
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// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
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}
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}
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}
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if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
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if (lock) {
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continue;
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}
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}
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}
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//找到目标结点就返回
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if (node.getX() == end.getX() && node.getY() == end.getY()) {
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//并且计算出G， F， H等值
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node.initNode(currentNode, end);
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return node;
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}
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// G + H + T (对启发函数增加去拐点方案calcNodeTurnCost)
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int gCost = calcNodeCost(currentNode, node) * (OPEN_TURN_COST_WEIGHT ? calcNodeTurnCost(currentNode, node, end) : 1);
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//进行计算对 G, F, H 等值
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node.setLastDistance(gCost);
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node.initNode(currentNode, end);
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node.setH(calcNodeCost(node, end));
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node.setF(node.getG() + node.getH());
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openQueue.add(node);
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existNodes.add(node);
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}
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}
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//如果遍历完所有出现的结点都没有找到最终的结点，返回null
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return null;
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}
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// 获取四周节点
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private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, List<NavigateNode> existNodes) {
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//获取当前结点的x, y
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int x = currentNode.getX();
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int y = currentNode.getY();
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//如果当前结点的邻结点合法，就加入到neighbour_node
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ArrayList<NavigateNode> neighbourNodes = new ArrayList<>();
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NavigateNode rightNode = extendNeighborNodes(currentNode, new NavigateNode(x, y + 1), mapMatrix, existNodes, null, null);
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if (is_valid(currentNode, rightNode, mapMatrix, existNodes)) {
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neighbourNodes.add(rightNode);
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}
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NavigateNode leftNode = extendNeighborNodes(currentNode, new NavigateNode(x, y - 1), mapMatrix, existNodes, null, null);
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if (is_valid(currentNode, leftNode, mapMatrix, existNodes)) {
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neighbourNodes.add(leftNode);
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}
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NavigateNode topNode = extendNeighborNodes(currentNode, new NavigateNode(x - 1, y), mapMatrix, existNodes, null, null);
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if (is_valid(currentNode, topNode, mapMatrix, existNodes)) {
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neighbourNodes.add(topNode);
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}
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NavigateNode bottomNode = extendNeighborNodes(currentNode, new NavigateNode(x + 1, y), mapMatrix, existNodes, null, null);
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if (is_valid(currentNode, bottomNode, mapMatrix, existNodes)) {
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neighbourNodes.add(bottomNode);
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}
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return neighbourNodes;
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}
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private NavigateNode extendNeighborNodes(NavigateNode currentNode, NavigateNode extendNode, int[][] mapMatrix, List<NavigateNode> existNodes, Integer dx, Integer dy) {
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NavigateNode nextNode = null;
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if (null == dx || null == dy) {
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dx = extendNode.getX() - currentNode.getX();
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dy = extendNode.getY() - currentNode.getY();
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nextNode = extendNode;
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} else {
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nextNode = new NavigateNode(extendNode.getX() + dx, extendNode.getY() + dy);
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}
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int x = nextNode.getX();
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int y = nextNode.getY();
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// 数组越界
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if (x < 0 || x >= mapMatrix.length
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|| y < 0 || y >= mapMatrix[0].length) {
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return null;
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}
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if (mapMatrix[x][y] == MapNodeType.DISABLE.val) {
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return extendNeighborNodes(currentNode, nextNode, mapMatrix, existNodes, dx, dy);
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} else {
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if (isExist(nextNode, existNodes)) {
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return null;
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}
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// 节点是否可用
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if (mapMatrix[x][y] != MapNodeType.ENABLE.val) {
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return null;
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}
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String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
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String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
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String nextNodeCodeData = codeMatrix[nextNode.getX()][nextNode.getY()];
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nextNode.setCodeData(nextNodeCodeData);
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// 判断通过性
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Route route = routeService.findByCodeOfBoth(
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codeService.selectByData(currentNodeCodeData).getId(),
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codeService.selectByData(nextNodeCodeData).getId()
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);
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if (null == route) {
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return null;
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}
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return nextNode;
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}
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}
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private boolean is_valid(NavigateNode currentNode, NavigateNode node, int[][] mapMatrix, List<NavigateNode> existNodes) {
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if (null == node) {
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return false;
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}
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// int x = node.getX();
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// int y = node.getY();
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// if (x < 0 || x >= mapMatrix.length
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// || y < 0 || y >= mapMatrix[0].length) {
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// return false;
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// }
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//
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// // 如果结点的位置小于0，则不合法
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// if (mapMatrix[x][y] < 0) return false;
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//
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// if (is_exist(node, existNodes)) {
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// return false;
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// }
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//
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// // 判断通过性
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// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
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// String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
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// String nextNodeCodeData = codeMatrix[node.getX()][node.getY()];
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// node.setCodeData(nextNodeCodeData);
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//
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// Route route = routeService.findByCodeOfBoth(
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// codeService.selectByData(currentNodeCodeData).getId(),
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// codeService.selectByData(nextNodeCodeData).getId()
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// );
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// if (null == route) {
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// return false;
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// }
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return true;
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}
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// private boolean is_exist(NavigateNode node, List<NavigateNode> existNodes) {
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// for (NavigateNode exist_node : existNodes) {
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// if (node.getX() == exist_node.getX() && node.getY() == exist_node.getY()) {
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// return true;
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// }
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// }
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// return false;
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// }
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private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) {
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for (NavigateNode existNode : existNodes) {
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if (this.isSame(node, existNode)) {
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return true;
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}
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}
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return false;
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}
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private boolean isSame(NavigateNode o1, NavigateNode o2) {
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if (Cools.isEmpty(o1, o2)) {
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return false;
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}
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return o1.getX() == o2.getX() && o1.getY() == o2.getY();
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}
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//------------------A*启发函数------------------//
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//计算通过现在的结点的位置和最终结点的位置计算H值(曼哈顿法：坐标分别取差值相加)
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private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
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return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
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}
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//去除拐点算法，给直线增加优先级
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private int calcNodeTurnCost(NavigateNode currNode, NavigateNode nextNode, NavigateNode endNode) {
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// 第一个点或直线点
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if (currNode.getParent() == null
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|| nextNode.getX() == currNode.getParent().getX()
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|| nextNode.getY() == currNode.getParent().getY()
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) {
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return 1;
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}
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// 拐向终点的点
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if (nextNode.getX() == endNode.getX() || nextNode.getY() == endNode.getY()) {
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return 2;
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}
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// 普通拐点
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/*
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拐点判断逻辑
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拿到父节点和下一节点
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通过判断父节点和下一节点的x数据和y数据都不相同时，则表明当前坐标是一个拐点
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*/
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return 3;
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}
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}
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