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.service.LaneService;
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import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
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import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
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import com.zy.acs.manager.core.utils.RouteGenerator;
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import com.zy.acs.manager.manager.entity.Segment;
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import com.zy.acs.manager.manager.service.JamService;
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import com.zy.acs.manager.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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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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import java.util.concurrent.CopyOnWriteArrayList;
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/**
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* Created by vincent on 6/12/2024
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*/
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@Slf4j
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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.TRUE;
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public static final int WEIGHT_CALC_FACTOR = 1;
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@Autowired
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private MapDataDispatcher mapDataDispatcher;
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@Autowired
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private JamService jamService;
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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 AStarNavigateNode execute(String agvNo, AStarNavigateNode start, AStarNavigateNode end
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, Boolean lock, List<String> blackList, Segment segment) {
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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<AStarNavigateNode> openQueue = new PriorityQueue<>();
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Set<AStarNavigateNode> existNodes = new HashSet<>();
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Map<String, Integer> bestGMap = new HashMap<>();
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start.setG(0);
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start.setH(calcNodeCost(start, end));
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start.setF(start.getG() + start.getH());
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String startKey = start.getX() + "_" + start.getY();
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bestGMap.put(startKey, start.getG());
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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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String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
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DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
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String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
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while (!openQueue.isEmpty()) {
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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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AStarNavigateNode currentNode = openQueue.poll();
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// 终点
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if (currentNode.getX() == end.getX() && currentNode.getY() == end.getY()) {
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return currentNode;
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}
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List<AStarNavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
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for (AStarNavigateNode node : neighbourNodes) {
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node.setCodeData(codeMatrix[node.getX()][node.getY()]);
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boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
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int weight = 0;
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if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
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continue;
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}
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// 特殊情况，当blackList有且只有一个元素且为startNode时
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// 说明blackList已经知道当前导航起始点和目标点为相邻节点
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// 但是当前blackList的任务是不让系统走相邻的最短路径，所以才会有下面的判断和continue
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if (blackList.size() == 1 && blackList.get(0).equals(start.getCodeData())) {
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if (isEndNode && currentNode.getCodeData().equals(start.getCodeData())) {
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continue;
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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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// 如果存在车辆，则增加权重 2 或者 3，因为拐点会增加权重 1
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// vehicle已经为当前segment做过了避让，且避让任务已完成，则权重值增加
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if (null != segment) {
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if (!Cools.isEmpty(jamService.getJamFromSegmentByAvo(segment, vehicle))) {
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weight += (WEIGHT_CALC_FACTOR * 3);
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} else {
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weight += (WEIGHT_CALC_FACTOR * 2);
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}
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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 (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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List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
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if (!Cools.isEmpty(laneCodeIdxList)) {
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Set<String> lanVehicleSet = new HashSet<>();
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for (int[] codeMatrixIdx : laneCodeIdxList) {
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DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[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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}
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}
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}
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if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
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continue;
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}
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}
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if (OPEN_TURN_COST_WEIGHT) {
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if (this.isTurning(currentNode, node)) {
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weight += WEIGHT_CALC_FACTOR;
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node.setTurnCount(currentNode.getTurnCount() + 1);
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} else {
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// 方向没变
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node.setTurnCount(currentNode.getTurnCount());
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}
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}
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//进行计算对 G, F, H 等值
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node.setWeight(weight);
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node.setLastDistance(calcNodeCost(currentNode, node));
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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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String key = node.getX() + "_" + node.getY();
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Integer recordedG = bestGMap.get(key);
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if (recordedG == null || node.getG() <= recordedG) {
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bestGMap.put(key, node.getG());
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openQueue.add(node);
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}
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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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return null;
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}
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// right left up down
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private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
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// 获取四周节点
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private List<AStarNavigateNode> getNeighborNodes(AStarNavigateNode currentNode, int[][] mapMatrix, Set<AStarNavigateNode> existNodes) {
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int x = currentNode.getX();
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int y = currentNode.getY();
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AStarNavigateNode parent = currentNode.getParent();
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List<AStarNavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();
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// List<AStarNavigateNode> possibleNodes = Arrays.asList(
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// new AStarNavigateNode(x, y + 1), // right
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// new AStarNavigateNode(x, y - 1), // left
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// new AStarNavigateNode(x - 1, y), // up
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// new AStarNavigateNode(x + 1, y) // down
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// );
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List<AStarNavigateNode> possibleNodes = new ArrayList<>();
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for (int[] d: DIRECTIONS) {
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int nx = x + d[0];
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int ny = y + d[1];
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// 如果父节点不为空，并且 (nx,ny) 等于父节点坐标，则跳过
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if (parent != null && nx == parent.getX() && ny == parent.getY()) {
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continue;
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}
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possibleNodes.add(new AStarNavigateNode(nx, ny));
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}
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possibleNodes.parallelStream()
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.map(extendNode -> extendNeighborNodes(currentNode, extendNode, mapMatrix, existNodes, null, null))
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.filter(Objects::nonNull)
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.forEach(neighbourNodes::add);
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return neighbourNodes;
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}
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private AStarNavigateNode extendNeighborNodes(AStarNavigateNode currentNode, AStarNavigateNode extendNode, int[][] mapMatrix, Set<AStarNavigateNode> existNodes, Integer dx, Integer dy) {
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AStarNavigateNode nextNode;
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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 AStarNavigateNode(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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}
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assert mapMatrix[x][y] == MapNodeType.ENABLE.val;
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// if (existNodes.contains(nextNode)) {
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// return null;
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// }
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// 判断通过性
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String routeCdaKey = RouteGenerator.generateRouteCdaKey(new int[]{currentNode.getX(), currentNode.getY()}, new int[]{nextNode.getX(), nextNode.getY()});
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if (!mapDataDispatcher.validRouteCdaKey(routeCdaKey)) {
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return null;
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}
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return nextNode;
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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(AStarNavigateNode node1, AStarNavigateNode 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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// 转弯判断：只允许“垂直或水平”运动
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private boolean isTurning(AStarNavigateNode currNode, AStarNavigateNode nextNode) {
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// 第一个点
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if (currNode.getParent() == null) {
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return false;
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}
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AStarNavigateNode parent = currNode.getParent();
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// 如果下一点（nextNode）与 parent 在同一行或同一列 => 没有转弯
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// 注意，这实际上等同于“(curr->next) 的方向 == (parent->curr) 的方向”。
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boolean sameRowOrCol =
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(nextNode.getX() == parent.getX())
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|| (nextNode.getY() == parent.getY());
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return !sameRowOrCol;
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}
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// 转弯判断：如果这两个向量相同（例如都等于 (0,1)），说明方向相同；否则说明转弯。
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// private boolean isTurning(AStarNavigateNode currNode, AStarNavigateNode nextNode) {
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// // 如果 currNode 没有父节点，说明是起点，不算转弯
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// if (currNode.getParent() == null) {
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// return false;
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// }
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// // 取出坐标
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// AStarNavigateNode parent = currNode.getParent();
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// int px = currNode.getX() - parent.getX(); // parent -> curr 的x偏移
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// int py = currNode.getY() - parent.getY(); // parent -> curr 的y偏移
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//
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// int nx = nextNode.getX() - currNode.getX(); // curr -> next 的x偏移
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// int ny = nextNode.getY() - currNode.getY(); // curr -> next 的y偏移
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//
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// // 如果 (px, py) 与 (nx, ny) 不一样，就说明转弯
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// return (px != nx) || (py != ny);
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// }
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}
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