#

luxiaotao1123

2024-11-04 6f5c384b7f838f35e3da4db129a57c76cd54d508

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

@@ -1,8 +1,8 @@
package com.zy.acs.manager.core.service;

import com.alibaba.fastjson.JSONObject;
import com.zy.acs.framework.common.Cools;
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.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -10,9 +10,7 @@
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.CodeGapService;
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;
@@ -32,10 +30,6 @@
    @Autowired
    private CodeService codeService;
    @Autowired
    private CodeGapService codeGapService;
    @Autowired
    private RouteService routeService;
    @Autowired
    private FloydNavigateService floydNavigateService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
@@ -47,14 +41,14 @@
    private ActionService actionService;

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

    /**
     * 寻址 ===>> A*
     * 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) {

        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
        int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
@@ -62,7 +56,7 @@
        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);

        if (null == finishNode) {
            log.warn("{} 号AGV检索[{}] ===>> [{}]路径失败......", agvNo, startCode.getData(), endCode.getData());
@@ -72,7 +66,7 @@
        ArrayList<NavigateNode> navigateNodes = new ArrayList<>();

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

@@ -82,12 +76,9 @@

        Collections.reverse(navigateNodes);

        //将每个节点里面的fatherNode至为null(方便后续计算时父节点过多导致显示的节点太多)
        for (NavigateNode navigateNode : navigateNodes) {
            //父节点设置为null，不影响计算结果，不影响后续操作。
            //此操作仅为后续排查处理提供视觉方便。
            navigateNode.setParent(null);
        }
//        for (NavigateNode navigateNode : navigateNodes) {
//            navigateNode.setParent(null);
//        }

        return navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
    }
@@ -180,103 +171,6 @@

    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) {