#

vincentlu

2025-03-18 4c9169967a879b54c04b0754ab9830a5a6baa708

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

@@ -1,30 +1,47 @@
package com.zy.acs.manager.core.service;

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.common.SnowflakeIdWorker;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.Code;
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 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.stereotype.Service;

import javax.annotation.PostConstruct;
import java.security.MessageDigest;
import java.security.NoSuchAlgorithmException;
import java.util.*;
import java.util.stream.Collectors;

/**
 * Created by vincent on 10/25/2024
 */
@Slf4j
@Service
public class LaneService {

    private boolean initialized = Boolean.FALSE;
    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    private final List<Lane> lanes = new ArrayList<>();
    private List<Lane> lanes = new ArrayList<>();

    private final Map<String, List<String>> adjacencyCodeMap = new HashMap<>();

    private final Map<String, List<int[]>> laneCodeIdxMap = new HashMap<>();

    private final Map<String, Lane> codeLaneMap = new HashMap<>();

    private boolean initialized = Boolean.FALSE;

    @Autowired
    private CodeService codeService;
@@ -32,26 +49,72 @@
    private RouteService routeService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private ConfigService configService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;

    // service -------------------------------------------------------

    public Boolean isInitialized() {
        return this.initialized;
    }

    public List<String> getLanePoints(String codeData) {
    public Lane search(String codeData) {
        if (Cools.isEmpty(codeData) || !this.initialized) {
            return null;
        }
        for (Lane lane : this.lanes) {
            if (lane.getCodes().contains(codeData)) {
                return lane.getCodes();
            }
        }
        return null;
//        if (result == null) {
//            for (Lane lane : this.lanes) {
//                if (lane.getCodes().contains(codeData)) {
//                    return lane;
//                }
//            }
//        }
        return this.codeLaneMap.get(codeData);
    }

    public List<int[]> getLaneCodeIdxList(String codeData) {
        if (Cools.isEmpty(codeData)) {
            return new ArrayList<>();
        }
        List<int[]> list = this.laneCodeIdxMap.get(codeData);
        if (null == list) {
            return new ArrayList<>();
        }
        return list;
    }

    // launcher -------------------------------------------------------

    @PostConstruct
    public synchronized void init() {
        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1));
    public void init() {
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        String laneDataStr = redis.getValue(RedisConstant.MAP_LANE_DATA, String.valueOf(lev));
        if (!Cools.isEmpty(laneDataStr)) {
            this.lanes = GsonUtils.fromJsonToList(laneDataStr, Lane.class);
        } else {

            StopWatch stopWatch = new StopWatch();
            stopWatch.start();

            this.initLaneData();

            stopWatch.stop();
            log.info("the rcs system calculated lane data which has spend {} millisecond......", stopWatch.getTime());

            redis.setValue(RedisConstant.MAP_LANE_DATA, String.valueOf(lev), GsonUtils.toJson(this.lanes));
        }

        this.generateLaneCodeIdx(null);
        this.initialized = Boolean.TRUE;
//        System.out.println(GsonUtils.toJson(this.lanes));
    }

    private void initLaneData() {
        log.info("the rcs system is starting to initialize lane data...");

        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));

        this.fillAdjacencyCodeMap(codeList);

@@ -59,18 +122,20 @@

        this.mergeDeadEndLane();

        this.deadInteractionPoint();
        this.deleteInteractionPoint();

        this.filterLanesWithFewPoints();

        this.initialized = Boolean.TRUE;
        this.generateLaneHash();

        log.info("the lane data initialization has been completed in rcs system.");
    }

    private void fillAdjacencyCodeMap(List<Code> codeList) {
        for (Code code : codeList) {
            List<Long> adjacencyNode = routeService.getAdjacencyNode(code.getId());
            this.adjacencyCodeMap.put(code.getData(), adjacencyNode.stream().map(node -> (
                    codeService.getById(node).getData()
                    codeService.getCacheById(node).getData()
            )).collect(Collectors.toList()));
        }
    }
@@ -166,9 +231,9 @@
            return true;
        }

        Code parentCode = codeService.selectByData(parent);
        Code currentCode = codeService.selectByData(current);
        Code neighborCode = codeService.selectByData(neighbor);
        Code parentCode = codeService.getCacheByData(parent);
        Code currentCode = codeService.getCacheByData(current);
        Code neighborCode = codeService.getCacheByData(neighbor);

        double direction1 = this.calculateDirection(parentCode, currentCode);
        double direction2 = this.calculateDirection(currentCode, neighborCode);
@@ -248,14 +313,56 @@
        }
    }

    private void deadInteractionPoint() {
    private void deleteInteractionPoint() {
        for (Lane lane : this.lanes) {
            lane.removeInteraction(this.adjacencyCodeMap);
        }
    }

    private void filterLanesWithFewPoints() {
        this.lanes.removeIf(next -> next.getCodes().size() <= 2);
        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
        this.lanes.removeIf(next -> next.getCodes().size() <= Optional.ofNullable(maxAgvCountInLane).orElse(2));
    }


    private void generateLaneHash() {
        for (Lane lane : this.lanes) {
            String hashCode = generateDigest(lane.getCodes());
            lane.setHashCode(hashCode);
        }
    }

    public static String generateDigest(List<String> list) {
        MessageDigest md = null;
        try {
            md = MessageDigest.getInstance("SHA-256");
        } catch (NoSuchAlgorithmException e) {
            log.error("generateDigest", e);
            throw new RuntimeException(e);
        }
        String combined = list.stream().sorted().collect(Collectors.joining(","));
        byte[] hashBytes = md.digest(combined.getBytes());

        StringBuilder sb = new StringBuilder();
        for (byte b : hashBytes) {
            sb.append(String.format("%02x", b));
        }
        return sb.toString();
    }

    public void generateLaneCodeIdx(Integer lev) {
        log.info("There is initializing Lane CodeIdxMap......");
        if (Cools.isEmpty(this.lanes)) {
            return;
        }
        for (Lane lane : this.lanes) {
            List<int[]> codeIdxList = new ArrayList<>();
            for (String code : lane.getCodes()) {
                int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
                codeIdxList.add(codeMatrixIdx);
                this.laneCodeIdxMap.put(code, codeIdxList);
                this.codeLaneMap.put(code, lane);
            }
        }
    }
}