#

luxiaotao1123

2024-12-02 233ff9e9e82c67ac33695b479fd31df6ffb77b22

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

@@ -1,20 +1,21 @@
package com.zy.acs.manager.core.service.astart;

import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.VehicleDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.service.LaneService;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.Route;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeGapService;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.manager.service.RouteService;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.List;
import java.util.PriorityQueue;
import java.util.*;

/**
 * Created by vincent on 6/12/2024
@@ -22,24 +23,31 @@
@Service
public class AStarNavigateService {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;

    public static final int WEIGHT_CALC_FACTOR = 1;

    @Autowired
    private CodeService codeService;
    @Autowired
    private CodeGapService codeGapService;
    @Autowired
    private RouteService routeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private AgvService agvService;

    public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
    private JamService jamService;
    @Autowired
    private LaneService laneService;
    @Autowired
    private ConfigService configService;

    public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
            , Boolean lock, List<String> whiteList, List<String> blackList) {
            , Boolean lock, List<String> blackList, Segment segment) {
        if (start.getX() == end.getX() && start.getY() == end.getY()) {
            return end;
        }
        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);

        PriorityQueue<NavigateNode> openQueue = new PriorityQueue<>();
        ArrayList<NavigateNode> existNodes = new ArrayList<>();
@@ -51,30 +59,25 @@
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);

        List<String> included = new ArrayList<>();
//        if (!Cools.isEmpty(whiteList)) {
//            included.addAll(whiteList);
//        }
        included.add(agvNo);
        List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);

        while (openQueue.size() > 0) {
            // 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
            NavigateNode currentNode = openQueue.poll();
            // 对当前结点进行扩展，得到一个四周结点的数组
            ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
            // 对这个结点遍历，看是否有目标结点出现
            label: for (NavigateNode node : neighbourNodes) {

                // 节点存在其他车辆
                for (VehicleDto vehicleDto : vehicleDtoList) {
                    if (node.getCodeData().equals(vehicleDto.getPosCode())) {
                        if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
                            continue label;
                        }
                        if (lock) {
                            continue label;
                        }
            ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
            for (NavigateNode node : neighbourNodes) {
                boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();

                int weight = 0;

                if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
                    continue;
                }
                // 特殊情况，当blackList有且只有一个元素且为startNode时
                // 说明blackList已经知道当前导航起始点和目标点为相邻节点
                // 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
                if (blackList.size() == 1 && blackList.get(0).equals(start.getCodeData())) {
                    if (isEndNode && currentNode.getCodeData().equals(start.getCodeData())) {
                        continue;
                    }
                }

@@ -85,9 +88,13 @@
                if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
                    if (!vehicle.equals(agvNo)) {

                        if (!Cools.isEmpty(blackList) && blackList.contains(vehicle)) {
                            continue;
                        // 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
                        if (null != segment) {
                            if (!Cools.isEmpty(jamService.getJamFromSegmentByAvo(segment, vehicle))) {
                                weight += WEIGHT_CALC_FACTOR;
                            }
                        }

                        if (lock) {
                            continue;
                        }
@@ -102,9 +109,6 @@
                    List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);

                    if (!Cools.isEmpty(otherWaveList)) {
                        if (!Cools.isEmpty(blackList) && !Cools.isEmpty(MapDataUtils.hasIntersection(otherWaveList, blackList))) {
                            continue;
                        }

                        if (lock) {
                            continue;
@@ -112,8 +116,34 @@
                    }
                }

                // 单巷道车辆容载数量
                Lane lane = laneService.search(node.getCodeData());
                if (null != lane) {
                    Set<String> lanVehicleSet = new HashSet<>();

                    List<String> laneCodes = lane.getCodes();
                    for (String laneCodeData : laneCodes) {
                        int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                        // scan dynamicMatrix or WaveMatrix
                        DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
                        String laneVehicle = laneDynamicNode.getVehicle();
                        assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                        if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                            if (!laneVehicle.equals(agvNo)) {
                                lanVehicleSet.add(laneVehicle);
//                                redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
                            }
                        }
                    }

                    if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                        continue;
                    }
                }


                //找到目标结点就返回
                if (node.getX() == end.getX() && node.getY() == end.getY()) {
                if (isEndNode) {
                    //并且计算出G， F， H等值
                    node.initNode(currentNode, end);
                    return node;
@@ -123,6 +153,7 @@
                int gCost = calcNodeCost(currentNode, node) * (OPEN_TURN_COST_WEIGHT ? calcNodeTurnCost(currentNode, node, end) : 1);

                //进行计算对 G, F, H 等值
                node.setWeight(weight);
                node.setLastDistance(gCost);
                node.initNode(currentNode, end);
                node.setH(calcNodeCost(node, end));
@@ -283,6 +314,9 @@

    //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)
    private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
//        Code code1 = codeService.selectByData(node1.getCodeData());
//        Code code2 = codeService.selectByData(node2.getCodeData());
//        return (int) (Math.abs(code2.getX() - code1.getX()) + Math.abs(code2.getY() - code1.getY()));

        return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
    }