package com.zy.common.utils;
|
|
import java.util.ArrayList;
|
import java.util.Collections;
|
import java.util.HashMap;
|
import java.util.HashSet;
|
import java.util.List;
|
import java.util.Map;
|
import java.util.Set;
|
import java.util.concurrent.atomic.AtomicReference;
|
|
import com.baomidou.mybatisplus.mapper.EntityWrapper;
|
import com.zy.asrs.entity.BasDevp;
|
import com.zy.asrs.entity.BasStation;
|
import com.zy.asrs.service.BasDevpService;
|
import com.zy.asrs.service.BasStationService;
|
import com.zy.core.News;
|
import com.zy.core.model.StationObjModel;
|
import org.springframework.scheduling.annotation.Scheduled;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.stereotype.Component;
|
|
import com.alibaba.fastjson.JSON;
|
import com.alibaba.fastjson.JSONObject;
|
import com.core.common.SpringUtils;
|
import com.core.exception.CoolException;
|
import com.zy.common.model.NavigateNode;
|
import com.zy.asrs.entity.DeviceConfig;
|
import com.zy.asrs.service.DeviceConfigService;
|
import com.zy.core.cache.SlaveConnection;
|
import com.zy.core.enums.SlaveType;
|
import com.zy.core.model.protocol.StationProtocol;
|
import com.zy.core.thread.StationThread;
|
import com.zy.system.entity.Config;
|
import com.zy.system.service.ConfigService;
|
|
@Component
|
public class NavigateUtils {
|
private static final long STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS = 2000L;
|
|
private static final String CFG_STATION_PATH_LEN_WEIGHT_PERCENT = "stationPathLenWeightPercent";
|
private static final String CFG_STATION_PATH_CONG_WEIGHT_PERCENT = "stationPathCongWeightPercent";
|
private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT = "stationPathPassOtherOutStationWeightPercent";
|
private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP = "stationPathPassOtherOutStationForceSkip";
|
|
@Autowired
|
private BasStationService basStationService;
|
|
private final AtomicReference<CachedStationPathRuntimeSnapshot> runtimeSnapshotRef = new AtomicReference<>();
|
|
@Scheduled(fixedDelay = 1500, initialDelay = 3000)
|
public void refreshStationPathCaches() {
|
try {
|
runtimeSnapshotRef.set(new CachedStationPathRuntimeSnapshot(System.currentTimeMillis(), buildStationPathRuntimeSnapshot()));
|
} catch (Exception ignore) {
|
}
|
}
|
|
public List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
|
BasStation startStation = basStationService.selectById(startStationId);
|
if (startStation == null) {
|
throw new CoolException("未找到该 起点 对应的站点数据");
|
}
|
Integer lev = startStation.getStationLev();
|
|
NavigateSolution navigateSolution = new NavigateSolution();
|
List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
|
|
NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
|
if (startNode == null) {
|
throw new CoolException("未找到该 起点 对应的节点");
|
}
|
|
NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
|
if (endNode == null) {
|
throw new CoolException("未找到该 终点 对应的节点");
|
}
|
|
long startTime = System.currentTimeMillis();
|
News.info("[WCS Debug] 站点路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
|
List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, 120, 500, 300);
|
if (allList.isEmpty()) {
|
// throw new CoolException("未找到该路径");
|
return new ArrayList<>();
|
}
|
News.info("[WCS Debug] 站点路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);
|
|
startTime = System.currentTimeMillis();
|
News.info("[WCS Debug] 站点路径权重开始分析,startStationId={},endStationId={}", startStationId, endStationId);
|
List<NavigateNode> list = findStationBestPath(allList);
|
News.info("[WCS Debug] 站点路径权重分析完成，耗时：{}ms", System.currentTimeMillis() - startTime);
|
|
//去重
|
HashSet<Integer> set = new HashSet<>();
|
List<NavigateNode> fitlerList = new ArrayList<>();
|
for (NavigateNode navigateNode : list) {
|
JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
|
if (valuObject.containsKey("rgvCalcFlag")) {
|
continue;
|
}
|
if (set.add(valuObject.getInteger("stationId"))) {
|
fitlerList.add(navigateNode);
|
}
|
}
|
|
for (int i = 0; i < fitlerList.size(); i++) {
|
NavigateNode currentNode = fitlerList.get(i);
|
currentNode.setIsInflectionPoint(false);
|
currentNode.setIsLiftTransferPoint(false);
|
|
try {
|
JSONObject valueObject = JSON.parseObject(currentNode.getNodeValue());
|
if (valueObject != null) {
|
Object isLiftTransfer = valueObject.get("isLiftTransfer");
|
if (isLiftTransfer != null) {
|
String isLiftTransferStr = isLiftTransfer.toString();
|
if ("1".equals(isLiftTransferStr) || "true".equalsIgnoreCase(isLiftTransferStr)) {
|
currentNode.setIsLiftTransferPoint(true);
|
}
|
}
|
}
|
} catch (Exception ignore) {}
|
|
NavigateNode nextNode = (i + 1 < fitlerList.size()) ? fitlerList.get(i + 1) : null;
|
NavigateNode prevNode = (i - 1 >= 0) ? fitlerList.get(i - 1) : null;
|
|
HashMap<String, Object> result = searchInflectionPoint(currentNode, nextNode, prevNode);
|
if (Boolean.parseBoolean(result.get("result").toString())) {
|
currentNode.setIsInflectionPoint(true);
|
currentNode.setDirection(result.get("direction").toString());
|
}
|
}
|
|
return fitlerList;
|
}
|
|
public List<NavigateNode> calcReachablePathByStationId(Integer startStationId, Integer endStationId) {
|
BasStation startStation = basStationService.selectById(startStationId);
|
if (startStation == null) {
|
throw new CoolException("未找到该 起点 对应的站点数据");
|
}
|
Integer lev = startStation.getStationLev();
|
|
NavigateSolution navigateSolution = new NavigateSolution();
|
List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
|
|
NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
|
if (startNode == null) {
|
throw new CoolException("未找到该 起点 对应的节点");
|
}
|
|
NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
|
if (endNode == null) {
|
throw new CoolException("未找到该 终点 对应的节点");
|
}
|
|
long startTime = System.currentTimeMillis();
|
News.info("[WCS Debug] 站点快速可达路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
|
NavigateNode resNode = navigateSolution.astarSearchJava(stationMap, startNode, endNode);
|
if (resNode == null) {
|
return new ArrayList<>();
|
}
|
News.info("[WCS Debug] 站点快速可达路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);
|
|
return buildStationPathFromFatherChain(resNode, stationMap);
|
}
|
|
public List<NavigateNode> calcByTrackSiteNo(int lev, Integer startTrackSiteNo, Integer endTrackSiteNo) {
|
NavigateSolution navigateSolution = new NavigateSolution();
|
List<List<NavigateNode>> rgvTrackMap = navigateSolution.getRgvTrackMap(lev);
|
|
NavigateNode startNode = navigateSolution.findTrackSiteNoNavigateNode(rgvTrackMap, startTrackSiteNo);
|
if (startNode == null){
|
throw new CoolException("未找到该 起点 对应的节点");
|
}
|
|
NavigateNode endNode = navigateSolution.findTrackSiteNoNavigateNode(rgvTrackMap, endTrackSiteNo);
|
if (endNode == null){
|
throw new CoolException("未找到该 终点 对应的节点");
|
}
|
|
long startTime = System.currentTimeMillis();
|
News.info("[WCS Debug] RGV路径开始计算,startTrackSiteNo:{},endTrackSiteNo={}", startTrackSiteNo, endTrackSiteNo);
|
NavigateNode res_node = navigateSolution.astarSearchJava(rgvTrackMap, startNode, endNode);
|
if (res_node == null) {
|
// throw new CoolException("未找到该路径");
|
return new ArrayList<>();
|
}
|
News.info("[WCS Debug] RGV路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);
|
|
ArrayList<NavigateNode> list = new ArrayList<>();
|
// 使用 visited 集合防止父链出现环导致死循环，同时设置安全步数上限
|
HashSet<NavigateNode> visited = new HashSet<>();
|
int maxSteps = rgvTrackMap.size() * rgvTrackMap.get(0).size() + 5; // 安全上限
|
int steps = 0;
|
NavigateNode fatherNode = null;//当前循环上一节点，用于拐点计算
|
while (res_node != null && visited.add(res_node) && steps++ < maxSteps) {
|
res_node.setIsInflectionPoint(false);
|
|
//寻找拐点
|
HashMap<String, Object> result = searchInflectionPoint(res_node, fatherNode, res_node.getFather());//分别传入当前节点、父节点、下一节点
|
//判断当前节点是否为拐点
|
if (Boolean.parseBoolean(result.get("result").toString())) {
|
//当前为拐点
|
res_node.setIsInflectionPoint(true);
|
//拐点方向
|
res_node.setDirection(result.get("direction").toString());
|
}
|
|
list.add(res_node);
|
fatherNode = res_node;//把当前节点保存成一个父节点
|
res_node = res_node.getFather();//迭代操作
|
}
|
if (steps >= maxSteps) {
|
throw new CoolException("路径回溯超出安全上限，疑似存在父链循环");
|
}
|
Collections.reverse(list);
|
//将每个节点里面的fatherNode至为null(方便后续计算时父节点过多导致显示的节点太多)
|
for (NavigateNode navigateNode : list) {
|
//父节点设置为null，不影响计算结果，不影响后续操作。
|
//此操作仅为后续排查处理提供视觉方便。
|
navigateNode.setFather(null);
|
}
|
|
//去重
|
HashSet<Integer> set = new HashSet<>();
|
List<NavigateNode> fitlerList = new ArrayList<>();
|
for(NavigateNode navigateNode : list){
|
JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
|
if(set.add(valuObject.getInteger("trackSiteNo"))){
|
fitlerList.add(navigateNode);
|
}
|
}
|
|
return fitlerList;
|
}
|
|
public List<NavigateNode> findLiftStationList(int lev) {
|
NavigateSolution navigateSolution = new NavigateSolution();
|
List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
|
|
List<NavigateNode> liftStationList = new ArrayList<>();
|
for (List<NavigateNode> navigateNodes : stationMap) {
|
for (NavigateNode navigateNode : navigateNodes) {
|
String nodeType = navigateNode.getNodeType();
|
if(nodeType == null){
|
continue;
|
}
|
if(!nodeType.equals("devp")){
|
continue;
|
}
|
JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
|
if(valuObject == null){
|
continue;
|
}
|
if (valuObject.containsKey("liftNo")) {
|
liftStationList.add(navigateNode);
|
}
|
}
|
}
|
|
return liftStationList;
|
}
|
|
private List<NavigateNode> buildStationPathFromFatherChain(NavigateNode endNode, List<List<NavigateNode>> stationMap) {
|
ArrayList<NavigateNode> list = new ArrayList<>();
|
HashSet<NavigateNode> visited = new HashSet<>();
|
int maxSteps = stationMap.size() * stationMap.get(0).size() + 5;
|
int steps = 0;
|
NavigateNode fatherNode = null;
|
NavigateNode currentNode = endNode;
|
while (currentNode != null && visited.add(currentNode) && steps++ < maxSteps) {
|
currentNode.setIsInflectionPoint(false);
|
currentNode.setIsLiftTransferPoint(false);
|
|
try {
|
JSONObject valueObject = JSON.parseObject(currentNode.getNodeValue());
|
if (valueObject != null) {
|
Object isLiftTransfer = valueObject.get("isLiftTransfer");
|
if (isLiftTransfer != null) {
|
String isLiftTransferStr = isLiftTransfer.toString();
|
if ("1".equals(isLiftTransferStr) || "true".equalsIgnoreCase(isLiftTransferStr)) {
|
currentNode.setIsLiftTransferPoint(true);
|
}
|
}
|
}
|
} catch (Exception ignore) {
|
}
|
|
HashMap<String, Object> result = searchInflectionPoint(currentNode, fatherNode, currentNode.getFather());
|
if (Boolean.parseBoolean(result.get("result").toString())) {
|
currentNode.setIsInflectionPoint(true);
|
currentNode.setDirection(result.get("direction").toString());
|
}
|
|
list.add(currentNode);
|
fatherNode = currentNode;
|
currentNode = currentNode.getFather();
|
}
|
if (steps >= maxSteps) {
|
throw new CoolException("路径回溯超出安全上限，疑似存在父链循环");
|
}
|
|
Collections.reverse(list);
|
for (NavigateNode navigateNode : list) {
|
navigateNode.setFather(null);
|
}
|
|
HashSet<Integer> stationIdSet = new HashSet<>();
|
List<NavigateNode> filterList = new ArrayList<>();
|
for (NavigateNode navigateNode : list) {
|
JSONObject valueObject = JSON.parseObject(navigateNode.getNodeValue());
|
if (valueObject.containsKey("rgvCalcFlag")) {
|
continue;
|
}
|
if (stationIdSet.add(valueObject.getInteger("stationId"))) {
|
filterList.add(navigateNode);
|
}
|
}
|
return filterList;
|
}
|
|
public List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
|
if (allList == null || allList.isEmpty()) {
|
return new ArrayList<>();
|
}
|
|
StationPathRuntimeSnapshot runtimeSnapshot = loadStationPathRuntimeSnapshot();
|
Map<Integer, StationProtocol> statusMap = runtimeSnapshot.statusMap;
|
Set<Integer> outStationIdSet = runtimeSnapshot.outStationIdSet;
|
double lenWeightPercent = runtimeSnapshot.lenWeightPercent;
|
double congWeightPercent = runtimeSnapshot.congWeightPercent;
|
double passOtherOutStationWeightPercent = runtimeSnapshot.passOtherOutStationWeightPercent;
|
boolean forceSkipPassOtherOutStation = runtimeSnapshot.forceSkipPassOtherOutStation;
|
|
List<List<NavigateNode>> candidates = new ArrayList<>();
|
List<Integer> lens = new ArrayList<>();
|
List<Integer> tasksList = new ArrayList<>();
|
List<Double> congs = new ArrayList<>();
|
List<Integer> passOtherOutStationCounts = new ArrayList<>();
|
int skippedByPassOtherOutStation = 0;
|
|
for (List<NavigateNode> path : allList) {
|
if (path == null || path.isEmpty()) {
|
continue;
|
}
|
int len = path.size();
|
int tasks = 0;
|
HashSet<Integer> stationIdSet = new HashSet<>();
|
for (NavigateNode node : path) {
|
JSONObject value = null;
|
try {
|
value = JSON.parseObject(node.getNodeValue());
|
} catch (Exception ignore) {}
|
if (value == null) {
|
continue;
|
}
|
Integer stationId = value.getInteger("stationId");
|
if (stationId == null) {
|
continue;
|
}
|
if (!stationIdSet.add(stationId)) {
|
continue;
|
}
|
StationProtocol protocol = statusMap.get(stationId);
|
if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
|
tasks++;
|
}
|
}
|
double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
|
int passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
|
if (forceSkipPassOtherOutStation && passOtherOutStationCount > 0) {
|
skippedByPassOtherOutStation++;
|
News.info("[WCS Debug] 站点路径候选已跳过，因经过其他出库站点,startStationId={},endStationId={},passOtherOutStationCount={}",
|
extractStationId(path.get(0)),
|
extractStationId(path.get(path.size() - 1)),
|
passOtherOutStationCount);
|
continue;
|
}
|
candidates.add(path);
|
lens.add(len);
|
tasksList.add(tasks);
|
congs.add(cong);
|
passOtherOutStationCounts.add(passOtherOutStationCount);
|
}
|
|
if (candidates.isEmpty()) {
|
if (forceSkipPassOtherOutStation && skippedByPassOtherOutStation > 0) {
|
News.info("[WCS Debug] 所有站点路径候选均因经过其他出库站点被强制跳过");
|
return new ArrayList<>();
|
}
|
return allList.get(0);
|
}
|
|
int minLen = Integer.MAX_VALUE;
|
int maxLen = Integer.MIN_VALUE;
|
double minCong = Double.MAX_VALUE;
|
double maxCong = -Double.MAX_VALUE;
|
int minPassOtherOutStationCount = Integer.MAX_VALUE;
|
int maxPassOtherOutStationCount = Integer.MIN_VALUE;
|
for (int i = 0; i < candidates.size(); i++) {
|
int l = lens.get(i);
|
double c = congs.get(i);
|
int p = passOtherOutStationCounts.get(i);
|
if (l < minLen) minLen = l;
|
if (l > maxLen) maxLen = l;
|
if (c < minCong) minCong = c;
|
if (c > maxCong) maxCong = c;
|
if (p < minPassOtherOutStationCount) minPassOtherOutStationCount = p;
|
if (p > maxPassOtherOutStationCount) maxPassOtherOutStationCount = p;
|
}
|
|
double weightSum = lenWeightPercent + congWeightPercent + passOtherOutStationWeightPercent;
|
double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
|
double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
|
double passOtherOutStationW = weightSum <= 0 ? 0.0 : passOtherOutStationWeightPercent / weightSum;
|
|
List<NavigateNode> best = null;
|
double bestCost = Double.MAX_VALUE;
|
int bestPassOtherOutStationCount = Integer.MAX_VALUE;
|
int bestTasks = Integer.MAX_VALUE;
|
int bestLen = Integer.MAX_VALUE;
|
for (int i = 0; i < candidates.size(); i++) {
|
int l = lens.get(i);
|
int t = tasksList.get(i);
|
double c = congs.get(i);
|
int p = passOtherOutStationCounts.get(i);
|
//归一化
|
double lenNorm = (maxLen - minLen) <= 0 ? 0.0 : (l - minLen) / (double) (maxLen - minLen);
|
double congNorm = (maxCong - minCong) <= 0 ? 0.0 : (c - minCong) / (double) (maxCong - minCong);
|
double passOtherOutStationNorm = (maxPassOtherOutStationCount - minPassOtherOutStationCount) <= 0
|
? 0.0
|
: (p - minPassOtherOutStationCount) / (double) (maxPassOtherOutStationCount - minPassOtherOutStationCount);
|
//获取权重
|
double cost = lenNorm * lenW + congNorm * congW + passOtherOutStationNorm * passOtherOutStationW;
|
if (cost < bestCost
|
|| (cost == bestCost && p < bestPassOtherOutStationCount)
|
|| (cost == bestCost && p == bestPassOtherOutStationCount && t < bestTasks)
|
|| (cost == bestCost && p == bestPassOtherOutStationCount && t == bestTasks && l < bestLen)) {
|
best = candidates.get(i);
|
bestCost = cost;
|
bestPassOtherOutStationCount = p;
|
bestTasks = t;
|
bestLen = l;
|
}
|
}
|
|
if (best == null) {
|
return allList.get(0);
|
}
|
return best;
|
}
|
|
private Set<Integer> loadAllOutStationIdSet() {
|
Set<Integer> outStationIdSet = new HashSet<>();
|
try {
|
BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
|
if (basDevpService == null) {
|
return outStationIdSet;
|
}
|
List<BasDevp> basDevpList = basDevpService.selectList(new EntityWrapper<BasDevp>().eq("status", 1));
|
for (BasDevp basDevp : basDevpList) {
|
List<StationObjModel> outStationList = basDevp.getOutStationList$();
|
for (StationObjModel stationObjModel : outStationList) {
|
if (stationObjModel != null && stationObjModel.getStationId() != null) {
|
outStationIdSet.add(stationObjModel.getStationId());
|
}
|
}
|
}
|
} catch (Exception ignore) {}
|
return outStationIdSet;
|
}
|
|
private int countPassOtherOutStations(List<NavigateNode> path, Set<Integer> outStationIdSet) {
|
if (path == null || path.size() < 3 || outStationIdSet == null || outStationIdSet.isEmpty()) {
|
return 0;
|
}
|
Integer startStationId = extractStationId(path.get(0));
|
Integer endStationId = extractStationId(path.get(path.size() - 1));
|
Set<Integer> hitStationIdSet = new HashSet<>();
|
for (int i = 1; i < path.size() - 1; i++) {
|
Integer stationId = extractStationId(path.get(i));
|
if (stationId == null) {
|
continue;
|
}
|
if (startStationId != null && startStationId.equals(stationId)) {
|
continue;
|
}
|
if (endStationId != null && endStationId.equals(stationId)) {
|
continue;
|
}
|
if (outStationIdSet.contains(stationId)) {
|
hitStationIdSet.add(stationId);
|
}
|
}
|
return hitStationIdSet.size();
|
}
|
|
private Integer extractStationId(NavigateNode node) {
|
if (node == null || node.getNodeValue() == null) {
|
return null;
|
}
|
try {
|
JSONObject value = JSON.parseObject(node.getNodeValue());
|
if (value == null) {
|
return null;
|
}
|
return value.getInteger("stationId");
|
} catch (Exception ignore) {}
|
return null;
|
}
|
|
private double loadDoubleConfig(ConfigService configService, String code, double defaultValue) {
|
if (configService == null || code == null) {
|
return defaultValue;
|
}
|
Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", code));
|
if (config == null || config.getValue() == null) {
|
return defaultValue;
|
}
|
String value = config.getValue().trim();
|
if (value.endsWith("%")) {
|
value = value.substring(0, value.length() - 1);
|
}
|
try {
|
return Double.parseDouble(value);
|
} catch (Exception ignore) {}
|
return defaultValue;
|
}
|
|
private boolean loadBooleanConfig(ConfigService configService, String code, boolean defaultValue) {
|
if (configService == null || code == null) {
|
return defaultValue;
|
}
|
Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", code));
|
if (config == null || config.getValue() == null) {
|
return defaultValue;
|
}
|
String value = config.getValue().trim();
|
if (value.isEmpty()) {
|
return defaultValue;
|
}
|
return "1".equals(value)
|
|| "true".equalsIgnoreCase(value)
|
|| "yes".equalsIgnoreCase(value)
|
|| "y".equalsIgnoreCase(value)
|
|| "on".equalsIgnoreCase(value);
|
}
|
|
private StationPathRuntimeSnapshot loadStationPathRuntimeSnapshot() {
|
long now = System.currentTimeMillis();
|
CachedStationPathRuntimeSnapshot cached = runtimeSnapshotRef.get();
|
if (cached != null && now - cached.loadTimeMs < STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS && cached.snapshot != null) {
|
return cached.snapshot;
|
}
|
StationPathRuntimeSnapshot snapshot = buildStationPathRuntimeSnapshot();
|
runtimeSnapshotRef.set(new CachedStationPathRuntimeSnapshot(now, snapshot));
|
return snapshot;
|
}
|
|
private StationPathRuntimeSnapshot buildStationPathRuntimeSnapshot() {
|
StationPathRuntimeSnapshot snapshot = new StationPathRuntimeSnapshot();
|
snapshot.statusMap = loadAllStationStatusMap();
|
snapshot.outStationIdSet = loadAllOutStationIdSet();
|
|
try {
|
ConfigService configService = SpringUtils.getBean(ConfigService.class);
|
if (configService != null) {
|
snapshot.lenWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_LEN_WEIGHT_PERCENT, snapshot.lenWeightPercent);
|
snapshot.congWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_CONG_WEIGHT_PERCENT, snapshot.congWeightPercent);
|
snapshot.passOtherOutStationWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT, snapshot.passOtherOutStationWeightPercent);
|
snapshot.forceSkipPassOtherOutStation = loadBooleanConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP, false);
|
}
|
} catch (Exception ignore) {
|
}
|
return snapshot;
|
}
|
|
private Map<Integer, StationProtocol> loadAllStationStatusMap() {
|
Map<Integer, StationProtocol> statusMap = new HashMap<>();
|
try {
|
DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
|
if (deviceConfigService == null) {
|
return statusMap;
|
}
|
List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
|
.eq("device_type", String.valueOf(SlaveType.Devp)));
|
for (DeviceConfig deviceConfig : devpList) {
|
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
|
if (stationThread == null) {
|
continue;
|
}
|
Map<Integer, StationProtocol> m = stationThread.getStatusMap();
|
if (m != null && !m.isEmpty()) {
|
statusMap.putAll(m);
|
}
|
}
|
} catch (Exception ignore) {
|
}
|
return statusMap;
|
}
|
|
//判断当前节点到下一个节点是否为拐点
|
public HashMap<String,Object> searchInflectionPoint(NavigateNode currentNode, NavigateNode fatherNode, NavigateNode nextNode) {
|
HashMap<String, Object> map = new HashMap<>();
|
map.put("result", false);//是否为拐点，true：拐点，false：直线
|
// 第一个点或直线点
|
if (fatherNode == null || nextNode == null || nextNode.getX() == fatherNode.getX() || nextNode.getY() == fatherNode.getY()) {
|
return map;//不是拐点直接返回
|
}
|
|
//拐点方向
|
String direction = calcDirection(currentNode, fatherNode);
|
|
map.put("result", true);//拐点
|
map.put("direction", direction);//拐点方向（从当前节点视角看的方向）
|
return map;
|
}
|
|
/**
|
* 计算方向
|
*/
|
public String calcDirection(NavigateNode currentNode, NavigateNode fatherNode) {
|
//拐点方向
|
String direction = "";
|
// 普通拐点
|
//计算拐点方向
|
if (fatherNode.getX() != currentNode.getX()) {
|
//x轴数据有差异，判断x轴方向
|
//当前节点X - 父节点X
|
if (currentNode.getX() - fatherNode.getX() > 0) {
|
//大于0，方向top
|
direction = "top";
|
}else {
|
//小于0，方向bottom
|
direction = "bottom";
|
}
|
}
|
|
if (fatherNode.getY() != currentNode.getY()) {
|
//y轴数据有差异，判断y轴方向
|
//当前节点Y - 父节点Y
|
if (currentNode.getY() - fatherNode.getY() > 0) {
|
//大于0，方向left
|
direction = "left";
|
}else {
|
//小于0，方向right
|
direction = "right";
|
}
|
}
|
|
return direction;
|
}
|
|
private static class StationPathRuntimeSnapshot {
|
private Map<Integer, StationProtocol> statusMap = new HashMap<>();
|
private Set<Integer> outStationIdSet = new HashSet<>();
|
private double lenWeightPercent = 50.0;
|
private double congWeightPercent = 50.0;
|
private double passOtherOutStationWeightPercent = 100.0;
|
private boolean forceSkipPassOtherOutStation = false;
|
}
|
|
private static class CachedStationPathRuntimeSnapshot {
|
private final long loadTimeMs;
|
private final StationPathRuntimeSnapshot snapshot;
|
|
private CachedStationPathRuntimeSnapshot(long loadTimeMs, StationPathRuntimeSnapshot snapshot) {
|
this.loadTimeMs = loadTimeMs;
|
this.snapshot = snapshot;
|
}
|
}
|
}
|
