#

luxiaotao1123

2024-12-02 233ff9e9e82c67ac33695b479fd31df6ffb77b22

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

@@ -4,11 +4,13 @@
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.service.astart.*;
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.service.ActionService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.system.service.ConfigService;
@@ -40,15 +42,11 @@
    @Autowired
    private ActionService actionService;

    public List<String> checkoutPath(String agvNo, Code startCode, Code endCode, Boolean lock) {
        return this.checkoutPath(agvNo, startCode, endCode, lock, null, null);
    }

    /**
     * 寻址 ===>> A Star
     */
    public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
            , Boolean lock, List<String> whiteList, List<String> blackList) {
            , Boolean lock, List<String> blackList, Segment segment) {

        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
        int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
@@ -56,7 +54,7 @@
        NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
        NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());

        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, whiteList, blackList);
        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);

        if (null == finishNode) {
            log.warn("{} 号AGV检索[{}] ===>> [{}]路径失败......", agvNo, startCode.getData(), endCode.getData());
@@ -80,7 +78,14 @@
//            navigateNode.setParent(null);
//        }

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

        // max count of steps
        if (navigatePath.size() > MapDataConstant.MAX_STEPS_SINGLE) {
            navigatePath = navigatePath.subList(0, MapDataConstant.MAX_STEPS_SINGLE);
        }

        return navigatePath;
    }

    /**
@@ -123,10 +128,9 @@

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

        return angle;
@@ -171,103 +175,6 @@

    public void lockPath(Integer lev, List<String> pathList, String agvNo) {
        mapDataDispatcher.modifyDynamicMatrix(lev, pathList, agvNo);
    }

    public synchronized void unlockPath(String agvNo, List<String> nodeList) {
        try {
            StopWatch stopWatch = new StopWatch();
            stopWatch.start();

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

            List<String> pathList = actionService.getPathListByAgv(agvNo).stream().distinct().collect(Collectors.toList());

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

            Set<String> outsideTrace = new HashSet<>();

            if (Cools.isEmpty(pathList)) {
                outsideTrace.addAll(nodeList);
            } else {

                int size = nodeList.size();
                for (String code : pathList) {


                    Iterator<String> iterator = nodeList.iterator();
                    while (iterator.hasNext()) {

                        String next = iterator.next();

                        if (next.equals(code)) {
                            if (!inTrace.contains(next)) {
                                inTrace.add(next);
                            }

                            iterator.remove();
                        }
                    }

                }


                assert inTrace.size() + nodeList.size() <= size;

                if (!Cools.isEmpty(nodeList)) {
                    outsideTrace.addAll(nodeList);
                }

                if (!Cools.isEmpty(inTrace)) {

                    String last = inTrace.get(inTrace.size() - 1);

                    int idx = pathList.indexOf(last);
                    inTrace = pathList.subList(0, idx + 1);
                }


            }

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

            Integer lev = null;

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

            for (String code : inTrace) {
                int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
                DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];

                if (dynamicNode.getVehicle().equals(agvNo)) {
                    resetCodeList.add(code);
                }
            }

            for (String code : outsideTrace) {
                int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
                DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];

                if (dynamicNode.getVehicle().equals(agvNo)) {
                    resetCodeList.add(code);
                }
            }

            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("TrafficService.unlockPath", e);
        }

    }

    public synchronized void unlockPath(String agvNo, String codeData) {
@@ -337,8 +244,10 @@
        return nodeList.stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
    }

    // v1 BFS ------------------------------------------------------------------------------
    public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, Double radiusLen) {
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);

        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
        NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
@@ -349,25 +258,25 @@
        includeList.add(originNode);
        existNodes.add(originNode);

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

        return includeList;
    }

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

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

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

        int x = nextNode.getX();
@@ -388,15 +297,10 @@

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

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

        } else {

            Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
            String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);

//            Code o1 = codeService.selectByData(originNode.getCodeData());
//            Code o2 = codeService.selectByData(nextNodeCodeData);
            List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
            List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);

@@ -405,7 +309,7 @@
                nextNode.setCodeData(nextNodeCodeData);
                includeList.add(nextNode);

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

            }
        }
@@ -427,6 +331,95 @@
        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 Boolean isTurnCorner(String codeData) {
        if (Cools.isEmpty(codeData)) {
            return false;