#

luxiaotao1123

2024-12-30 3209b7899f99fbc567c24be9709ba289f33ea73b

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

@@ -3,21 +3,24 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Route;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.RouteService;
import lombok.extern.slf4j.Slf4j;

import java.util.ArrayList;
import java.util.Comparator;
import java.util.List;
import java.util.Optional;
import java.util.*;
import java.util.concurrent.ConcurrentLinkedQueue;
import java.util.stream.Collectors;
import java.util.stream.IntStream;

/**
 * Created by vincent on 6/6/2024
@@ -29,6 +32,9 @@

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    List<Double> xIdxList;
    List<Double> yIdxList;

    private String[][] codeMatrix;

    private int[][] mapMatrix;
@@ -36,6 +42,8 @@
    private int[][] turnMatrix;

    private String[][] cdaMatrix;

    public Map<String, Boolean> routeCdaMap = new HashMap<>();

    private final CodeService codeService;

@@ -191,7 +199,6 @@
    }

    public String[][] initWaveMatrix(Integer lev) {
        log.info("There is initializing Wave Matrix......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
@@ -234,13 +241,20 @@
        log.info("There is initializing Cda Matrix......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        if (Cools.isEmpty(xIdxList, yIdxList)) {
            this.initCodeMatrix(lev);
        }

        String[][] codeMatrix = getCodeMatrix(lev);
        String[][] cdaMatrix = new String[codeMatrix.length][codeMatrix[0].length];

        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
                    cdaMatrix[i][j] = CdaNodeType.DISABLE.val;
                    List<Double> cdaArr = new ArrayList<>();
                    cdaArr.add(xIdxList.get(j));
                    cdaArr.add(yIdxList.get(i));
                    cdaMatrix[i][j] = JSON.toJSONString(cdaArr);
                } else {
                    Code currCode = codeService.selectByData(codeMatrix[i][j]);
                    if (null != currCode) {
@@ -330,6 +344,51 @@
        return mapMatrix;
    }

    public boolean validRouteCdaKey(String routeCdaKey) {
        if (Cools.isEmpty(routeCdaKey)) {
            return false;
        }
        Boolean result = this.routeCdaMap.get(routeCdaKey);
        if (null == result) {
            return false;
        }
        return result;
    }

    public synchronized void initRouteMap(Integer lev) {
        log.info("There is initializing Route Map......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        Set<String> routeKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG);
        Set<String> routeCdaKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG);

        List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, StatusType.ENABLE.val));
        if (routeKeys.size() == routeList.size() && routeKeys.size() == routeCdaKeys.size()) {
            for (String routeCdaKey : routeCdaKeys) {
                this.routeCdaMap.put(routeCdaKey, Boolean.TRUE);
            }
            return;
        }
        for (Route route : routeList) {
            Code startCode = codeService.getById(route.getStartCode());
            int[] startCodeIdx = getCodeMatrixIdx(lev, startCode.getData());
            Code endCode = codeService.getById(route.getEndCode());
            int[] codeMatrixIdx = getCodeMatrixIdx(lev, endCode.getData());

            String routeKey = RouteGenerator.generateRouteKey(startCode.getData(), endCode.getData());
            if (Cools.isEmpty(routeKey)) {
                continue;
            }
            redis.setMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey, Boolean.TRUE);

            String routeCdaKey = RouteGenerator.generateRouteCdaKey(startCodeIdx, codeMatrixIdx);
            if (Cools.isEmpty(routeCdaKey)) {
                continue;
            }
            redis.setMap(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG, routeCdaKey, Boolean.TRUE);
            this.routeCdaMap.put(routeCdaKey, Boolean.TRUE);
        }
    }

    public synchronized String[][] initCodeMatrix(Integer lev) {
        log.info("There is initializing Code Matrix......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
@@ -338,13 +397,9 @@
                .orderByAsc(Code::getY)
                .orderByAsc(Code::getX)
        );
//        int xCount = codeService.selectDistinctCountFromX();
//        int yCount = codeService.selectDistinctCountFromY();
//        // [][] 第一个是排的数量 第二个是列的数量
//        String[][] codeMatrix = new String[yCount][xCount];

        List<Double> xIdxList = new ArrayList<>();
        List<Double> yIdxList = new ArrayList<>();
        xIdxList = new ArrayList<>();
        yIdxList = new ArrayList<>();
        for (Code code : codeList) {
            Double x = code.getX();
            Double y = code.getY();
@@ -362,24 +417,9 @@
        // [][] 第一个是排的数量 第二个是列的数量
        String[][] codeMatrix = new String[yIdxList.size()][xIdxList.size()];

        int idxX = -1;
        int idxY = -1;
        double lastX = -1;
        double lastY = -1;
        for (Code code : codeList) {
            Double x = code.getX();
            Double y = code.getY();
//            if (y != lastY) {
//                idxY ++;
//                idxX = 0;
//                lastY = y;
//                lastX = x;
//            }
//            if (x != lastX) {
//                idxX++;
//                lastX = x;
//            }
//            codeMatrix[idxY][idxX] = code.getData();

            codeMatrix[yIdxList.indexOf(y)][xIdxList.indexOf(x)] = code.getData();
        }
@@ -420,19 +460,37 @@
        }
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        List<SortCodeDto> codeList = new ArrayList<>();
        DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);
        String[][] codeMatrix = this.getCodeMatrix(lev);
        for (int i = 0; i < codeMatrix.length; i++) {

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

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

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

    public void modifyDynamicMatrix(Integer lev, List<String> codeList, String vehicle) {
@@ -447,11 +505,11 @@
            if (Cools.isEmpty(codeList, vehicle)) {
                return;
            }
            long time = System.currentTimeMillis() / 1000;
//            long time = System.currentTimeMillis() / 1000;
            int serial = 1;
            for (String code : codeList) {
                int[] node = getCodeMatrixIdx(lev, code);
                dynamicMatrix[node[0]][node[1]] = new DynamicNode(vehicle, serial, time);
                dynamicMatrix[node[0]][node[1]] = new DynamicNode(vehicle, serial);
                serial++;
            }
        } else {