1

zhang

2025-09-05 1864f916e0359d0814416cf94feda3a3662ed193

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java

@@ -1,27 +1,32 @@
package com.zy.acs.manager.core.service;

import com.alibaba.fastjson.JSONObject;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Sta;
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

import java.util.*;
import java.util.concurrent.ConcurrentLinkedQueue;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
import java.util.stream.IntStream;

/**
 * Created by vincent on 2023/6/14
@@ -29,6 +34,8 @@
@Slf4j
@Component("mapService")
public class MapService {

    private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};

    @Value("${floyd.enable}")
    private Boolean floydEnable;
@@ -44,6 +51,8 @@
    private ConfigService configService;
    @Autowired
    private ActionService actionService;
    @Autowired
    private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;

    /**
     * 寻址 ===>> A Star
@@ -54,36 +63,26 @@
        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
        int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());

        NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
        NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
        AStarNavigateNode startNode = new AStarNavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
        AStarNavigateNode endNode = new AStarNavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());

        long startTime = System.currentTimeMillis();
        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
//        System.out.println("AStart spend time: " + (System.currentTimeMillis() - startTime));

//        long startTime = System.currentTimeMillis();
        AStarNavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
//        System.out.println("A Star Spend time :" + (System.currentTimeMillis() - startTime));
        if (null == finishNode) {
            log.warn("{} 号AGV检索[{}] ===>> [{}]路径失败......", agvNo, startCode.getData(), endCode.getData());
            return new ArrayList<>();
        }

        ArrayList<NavigateNode> navigateNodes = new ArrayList<>();
        ArrayList<AStarNavigateNode> navigateNodes = new ArrayList<>();

        // 渲染
        NavigateNode parentNode = null; //  当前循环上一节点，用于拐点计算
        while (finishNode != null) {
            navigateNodes.add(finishNode);

            parentNode = finishNode;
            finishNode = finishNode.getParent();
        }

        Collections.reverse(navigateNodes);

//        for (NavigateNode navigateNode : navigateNodes) {
//            navigateNode.setParent(null);
//        }

        List<String> navigatePath = navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
        List<String> navigatePath = navigateNodes.stream().map(AStarNavigateNode::getCodeData).collect(Collectors.toList());

        // max count of steps
        if (navigatePath.size() > MapDataConstant.MAX_STEPS_SINGLE) {
@@ -120,14 +119,26 @@

        return floydNavigateService.calculatePath(startIdx, endIdx).stream().map(path -> {
            Long codeId = floydNavigateService.getCodeId(path);
            Code code = codeService.getById(codeId);
            Code code = codeService.getCacheById(codeId);
            return code.getData();
        }).collect(Collectors.toList());
    }

    public static Double mapToNearest(Double angle) {
        if (null == angle) {
            return null;
        }
        angle = (angle + 360) % 360;
        double remainder = angle % 45;
        if (remainder < 22.5) {
            return angle - remainder;
        } else {
            return angle + (45 - remainder);
        }
    }

    // 角度计算
    public Double calculateDirection(Code startCode, Code endCode) {
    public Double calculateDirection(Code startCode, Code endCode, int angleOffsetVal) {
        Double x0 = startCode.getX();
        Double y0 = startCode.getY();

@@ -136,8 +147,7 @@

        double deltaX = x1 - x0;
        double deltaY = y1 - y0;
        double angle = -Math.atan2(deltaX, deltaY);
        int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
        double angle = Math.atan2(deltaX, deltaY);
        angle = Math.toDegrees(angle) + angleOffsetVal;
        angle = (angle + 360) % 360; // 将角度转换为正值

@@ -145,8 +155,7 @@
    }

    // 坐标货架阈值 todo:luxiaotao
    public AgvDirectionType calculateAgvWorkDirection(JSONObject storeDirection, Loc loc, Code code) {
        storeDirection.getString("key");
    public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
        Integer compDirect = loc.getCompDirect();
        AgvDirectionType agvDirectionType = null;
        if (compDirect == 0) {
@@ -158,6 +167,19 @@
        return agvDirectionType;
    }

    public Double getStaAngle(Sta sta, Double workDirection) {
        if (null == sta) {
            return null;
        }
        if (Cools.isEmpty(sta.getAngle())) {
            return workDirection;
        }
        return Double.parseDouble(sta.getAngle());
    }

    public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) {
        return Math.abs(staWorkDirection - lastDirection) + 90.0D;
    }

    public double calculateDistance(double x1, double y1, double x2, double y2) {
        double deltaX = x2 - x1;
@@ -182,62 +204,54 @@
    }

    public void lockPath(Integer lev, List<String> pathList, String agvNo) {
        mapDataDispatcher.modifyDynamicMatrix(lev, pathList, agvNo);
        List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, pathList);
        mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo);
    }

    public synchronized void unlockPath(String agvNo, String codeData) {
        try {
            StopWatch stopWatch = new StopWatch();
            stopWatch.start();

            if (Cools.isEmpty(agvNo, codeData)) {
                return;
            }

            Integer lev = null;

            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
            int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, codeData);


            DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

            DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];


            Integer serial = dynamicNode.getSerial();
            long time = dynamicNode.getTime();

            List<String> resetCodeList = new ArrayList<>();

            for (int i = 0; i < dynamicMatrix.length; i++) {
                for (int j = 0; j < dynamicMatrix[i].length; j++) {

                    if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }

                    DynamicNode node = dynamicMatrix[i][j];
                    if (node.getVehicle().equals(agvNo)) {
                        if (node.getSerial() < serial || node.getTime() != time) {
                            resetCodeList.add(codeMatrix[i][j]);
                        }
                    }
                }
            }

            if (!Cools.isEmpty(resetCodeList)) {

                mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeList);
            }

            stopWatch.stop();
            if (stopWatch.getTime() > 50) {
                log.info("解锁路径函数花费时间为：{}毫秒......", stopWatch.getTime());
            }

        } catch (Exception e) {
            log.error("MapService.unlockPath", e);
    public void unlockPath(String agvNo, String codeData) {
        if (Cools.isEmpty(agvNo, codeData)) {
            return;
        }
        try {
            unlockTaskQueue.offer(new UnlockPathTask(agvNo, codeData), 5, TimeUnit.SECONDS);

//            Integer lev = null;
//
//            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
//            int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, codeData);
//
//
//            DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
//
//            DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
//
//
//            int serial = dynamicNode.getSerial();
//
//            List<int[]> resetCodeIdxList = new ArrayList<>();
//
//            for (int i = 0; i < dynamicMatrix.length; i++) {
//                for (int j = 0; j < dynamicMatrix[i].length; j++) {
//
////                    if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
//
//                    DynamicNode node = dynamicMatrix[i][j];
//                    if (node.getVehicle().equals(agvNo)) {
//                        if (node.getSerial() < serial) {
//                            resetCodeIdxList.add(new int[] {i, j});
//                        }
//                    }
//                }
//            }
//
//            if (!Cools.isEmpty(resetCodeIdxList)) {
//
//                mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeIdxList);
//            }

        } catch (InterruptedException e) {
            log.error("unlockTaskQueue", e);
        }
    }

    public List<String> getWaveScopeByCodeList(Integer lev, List<String> codeList, Double radiusLen) {
@@ -260,38 +274,40 @@

    // v1 BFS ------------------------------------------------------------------------------
    public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, Double radiusLen) {
        double radiusLenSquared = Math.pow(radiusLen, 2);

        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
        Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);

        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
        NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);

        List<NavigateNode> includeList = new ArrayList<>();
        List<NavigateNode> existNodes = new ArrayList<>();
        Set<NavigateNode> existNodes = new HashSet<>();

        includeList.add(originNode);
        existNodes.add(originNode);

        this.spreadWaveNode(originNode, originNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.spreadWaveNode(originNode, originNode, codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);

        return includeList;
    }

    public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
            , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
            , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
            , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
            , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
        int x = currNode.getX();
        int y = currNode.getY();

        this.extendNeighborNodes(originNode, new NavigateNode(x, y + 1), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x, y - 1), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x - 1, y), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x + 1, y), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x, y + 1), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x, y - 1), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x - 1, y), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x + 1, y), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
    }

    public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode
            , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
            , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
            , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
            , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {

        int x = nextNode.getX();
        int y = nextNode.getY();
@@ -301,137 +317,104 @@
            return;
        }

        if (this.isExist(nextNode, existNodes)) {
        if (existNodes.contains(nextNode)) {
            return;
        }

        existNodes.add(nextNode);

        String nextNodeCodeData = codeMatrix[x][y];
        Double[] o1Cda = cdaMatrix[originNode.getX()][originNode.getY()];
        Double[] o2Cda = cdaMatrix[x][y];
        if (Math.pow(o1Cda[0] - o2Cda[0], 2) + Math.pow(o1Cda[1] - o2Cda[1], 2) <= radiusLenSquared) {
            nextNode.setCodeData(codeMatrix[x][y]);

        if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {

            this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);

        } else {

            List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
            List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);

//            if (Math.pow(o1.getX() - o2.getX(), 2) + Math.pow(o1.getY() - o2.getY(), 2) <= Math.pow(radiusLen, 2)) {
            if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
                nextNode.setCodeData(nextNodeCodeData);
            if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
                includeList.add(nextNode);

                this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);

            }
        }
    }

    private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) {
        for (NavigateNode existNode : existNodes) {
            if (this.isSame(node, existNode)) {
                return true;
            }
            this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
        }
        return false;
    }

    private boolean isSame(NavigateNode o1, NavigateNode o2) {
        if (Cools.isEmpty(o1, o2)) {
            return false;
        }
        return o1.getX() == o2.getX() && o1.getY() == o2.getY();
    }

    // v2 BFS ------------------------------------------------------------------------------
    public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);

        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
        NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);

        List<NavigateNode> includeList = new ArrayList<>();
        Set<NavigateNode> visited = new HashSet<>(); // Track visited nodes to avoid re-processing
        Queue<NavigateNode> queue = new LinkedList<>();

        includeList.add(originNode);
        visited.add(originNode);
        queue.offer(originNode);

        while (!queue.isEmpty()) {
            NavigateNode currNode = queue.poll();
            this.spreadWaveNode0(originNode, currNode, codeMatrix, radiusLen, includeList, visited, queue);
        }

        return includeList;
    }

    public void spreadWaveNode0(NavigateNode originNode, NavigateNode currNode,
                               String[][] codeMatrix, Double radiusLen,
                               List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {

        int x = currNode.getX();
        int y = currNode.getY();

        // Expand neighbors in all four directions (up, down, left, right)
        this.extendNeighborNodes0(originNode, new NavigateNode(x, y + 1), codeMatrix, radiusLen, includeList, visited, queue);
        this.extendNeighborNodes0(originNode, new NavigateNode(x, y - 1), codeMatrix, radiusLen, includeList, visited, queue);
        this.extendNeighborNodes0(originNode, new NavigateNode(x - 1, y), codeMatrix, radiusLen, includeList, visited, queue);
        this.extendNeighborNodes0(originNode, new NavigateNode(x + 1, y), codeMatrix, radiusLen, includeList, visited, queue);
    }

    public void extendNeighborNodes0(NavigateNode originNode, NavigateNode nextNode,
                                    String[][] codeMatrix, Double radiusLen,
                                    List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
        int x = nextNode.getX();
        int y = nextNode.getY();

        // Check if the node is out of bounds
        if (x < 0 || x >= codeMatrix.length || y < 0 || y >= codeMatrix[0].length) {
            return;
        }

        // If the node has already been visited, skip it
        if (this.isExist0(nextNode, visited)) {
            return;
        }

        visited.add(nextNode);

        String nextNodeCodeData = codeMatrix[x][y];

        // If it's a NONE node, we still need to check its surroundings
        if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
            this.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
        } else {
            Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
            String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);

            // Check if the distance between nodes is within the radius length
            List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
            List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);

            // Calculate Euclidean distance between the nodes
            if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
                nextNode.setCodeData(nextNodeCodeData);
                includeList.add(nextNode);

                // Add the node to the queue to expand its neighbors
                queue.offer(nextNode);
            }
        }
    }

    private boolean isExist0(NavigateNode node, Set<NavigateNode> existNodes) {
        for (NavigateNode existNode : existNodes) {
            if (this.isSame(node, existNode)) {
                return true;
            }
        }
        return false;
    }
//    public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
//        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
//
//        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
//        NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
//
//        List<NavigateNode> includeList = new ArrayList<>();
//        Set<NavigateNode> visited = new HashSet<>(); // Track visited nodes to avoid re-processing
//        Queue<NavigateNode> queue = new LinkedList<>();
//
//        includeList.add(originNode);
//        visited.add(originNode);
//        queue.offer(originNode);
//
//        while (!queue.isEmpty()) {
//            NavigateNode currNode = queue.poll();
//            this.spreadWaveNode0(originNode, currNode, codeMatrix, radiusLen, includeList, visited, queue);
//        }
//
//        return includeList;
//    }
//
//    public void spreadWaveNode0(NavigateNode originNode, NavigateNode currNode,
//                               String[][] codeMatrix, Double radiusLen,
//                               List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
//
//        int x = currNode.getX();
//        int y = currNode.getY();
//
//        // Expand neighbors in all four directions (up, down, left, right)
//        this.extendNeighborNodes0(originNode, new NavigateNode(x, y + 1), codeMatrix, radiusLen, includeList, visited, queue);
//        this.extendNeighborNodes0(originNode, new NavigateNode(x, y - 1), codeMatrix, radiusLen, includeList, visited, queue);
//        this.extendNeighborNodes0(originNode, new NavigateNode(x - 1, y), codeMatrix, radiusLen, includeList, visited, queue);
//        this.extendNeighborNodes0(originNode, new NavigateNode(x + 1, y), codeMatrix, radiusLen, includeList, visited, queue);
//    }
//
//    public void extendNeighborNodes0(NavigateNode originNode, NavigateNode nextNode,
//                                    String[][] codeMatrix, Double radiusLen,
//                                    List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
//        int x = nextNode.getX();
//        int y = nextNode.getY();
//
//        // Check if the node is out of bounds
//        if (x < 0 || x >= codeMatrix.length || y < 0 || y >= codeMatrix[0].length) {
//            return;
//        }
//
//        // If the node has already been visited, skip it
//        if (visited.contains(nextNode)) {
//            return;
//        }
//
//        visited.add(nextNode);
//
//        String nextNodeCodeData = codeMatrix[x][y];
//
//        // If it's a NONE node, we still need to check its surroundings
//        if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
//            this.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
//        } else {
//            Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
//            String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
//
//            // Check if the distance between nodes is within the radius length
//            List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
//            List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);
//
//            // Calculate Euclidean distance between the nodes
//            if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
//                nextNode.setCodeData(nextNodeCodeData);
//                includeList.add(nextNode);
//
//                // Add the node to the queue to expand its neighbors
//                queue.offer(nextNode);
//            }
//        }
//    }


    public Boolean isTurnCorner(String codeData) {
@@ -447,4 +430,103 @@
        return turnMatrixNode == TurnNodeType.TURN.val;
    }

    /**
     * That vehicle is walking if the dynamic node count > 1
     */
    @SuppressWarnings("all")
    public boolean isWalkingByVehicle(Integer lev, String vehicle) {
        if (Cools.isEmpty(vehicle)) {
            return false;
        }

        lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

        int count = 0;
        for (int i = 0; i < dynamicMatrix.length; i++) {
            for (int j = 0; j < dynamicMatrix[i].length; j++) {
                if (vehicle.equals(dynamicMatrix[i][j].getVehicle())) {
                    count++;
                    if (count > 1) {
                        return true;
                    }
                }
            }
        }

        return false;
    }

    public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
        if (Cools.isEmpty(nodeType)) {
            return new ArrayList<>();
        }
        lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);

        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);

        // concurrent
        ConcurrentLinkedQueue<SortCodeDto> codeList = new ConcurrentLinkedQueue<>();
        IntStream.range(0, codeMatrix.length).parallel().forEach(i -> {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                DynamicNode dynamicNode = dynamicMatrix[i][j];
                if (nodeType.equals(dynamicNode.getVehicle())) {
                    codeList.add(new SortCodeDto(codeMatrix[i][j], dynamicNode.getSerial()));
                }
            }
        });

        // synchronize
//        List<SortCodeDto> codeList = new ArrayList<>();
//        for (int i = 0; i < codeMatrix.length; i++) {
//            for (int j = 0; j < codeMatrix[i].length; j++) {
//                DynamicNode dynamicNode = dynamicMatrix[i][j];
//                if (nodeType.equals(dynamicNode.getVehicle())) {
//                    codeList.add(new SortCodeDto(codeMatrix[i][j], dynamicNode.getSerial()));
//                }
//            }
//        }

        return codeList.stream()
                .sorted(Comparator.comparingInt(SortCodeDto::getSerial))
                .map(SortCodeDto::getCode)
                .collect(Collectors.toList());
    }

    public Map<String, List<String>> queryCodeListFromDynamicNode(Integer lev, Set<String> vehicles) {
        if (Cools.isEmpty(vehicles)) {
            return new HashMap<>();
        }
        lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);

        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);

        Map<String, List<SortCodeDto>> map = new HashMap<>(vehicles.size());

        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                DynamicNode dynamicNode = dynamicMatrix[i][j];
                String vehicle = dynamicNode.getVehicle();

                if (vehicles.contains(vehicle)) {
                    int serial = dynamicNode.getSerial();
                    map.computeIfAbsent(vehicle, k -> new ArrayList<>()).add(new SortCodeDto(codeMatrix[i][j], serial));
                }
            }
        }

        Map<String, List<String>> result = new HashMap<>(vehicles.size());
        for (Map.Entry<String, List<SortCodeDto>> entry : map.entrySet()) {
            List<String> codeDataList = entry.getValue().stream()
                    .sorted(Comparator.comparingInt(SortCodeDto::getSerial))
                    .map(SortCodeDto::getCode)
                    .collect(Collectors.toList());
            result.put(entry.getKey(), codeDataList);
        }

        return result;
    }

}