#

luxiaotao1123

2024-12-18 93d8a38f9fd0746b9ce6ac7541bf2b8b48f7c63c

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

@@ -4,6 +4,7 @@
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;
@@ -16,11 +17,10 @@
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -30,6 +30,8 @@
@Component("mapService")
public class MapService {

    @Value("${floyd.enable}")
    private Boolean floydEnable;
    @Autowired
    private CodeService codeService;
    @Autowired
@@ -79,13 +81,23 @@
//            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;
    }

    /**
     * 寻址 ===>> Floyd
     */
    public synchronized List<String> validFeasibility(Code startCode, Code endCode) {
        if (!floydEnable) {
            return Arrays.asList("00000001", "00000002", "00000003", "00000004", "00000005", "00000006");
        }

        int startIdx = floydNavigateService.codeIdx(startCode.getId());
        int endIdx = floydNavigateService.codeIdx(endCode.getId());
@@ -192,14 +204,20 @@


            Integer serial = dynamicNode.getSerial();
            long time = dynamicNode.getTime();

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

            for (int i = 0; i < dynamicMatrix.length; i++) {
                for (int j = 0; j < dynamicMatrix[i].length; j++) {

                    if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }

                    DynamicNode node = dynamicMatrix[i][j];
                    if (node.getVehicle().equals(agvNo) && node.getSerial() < serial) {
                        resetCodeList.add(codeMatrix[i][j]);
                    if (node.getVehicle().equals(agvNo)) {
                        if (node.getSerial() < serial || node.getTime() != time) {
                            resetCodeList.add(codeMatrix[i][j]);
                        }
                    }
                }
            }
@@ -215,7 +233,7 @@
            }

        } catch (Exception e) {
            log.error("TrafficService.unlockPath", e);
            log.error("MapService.unlockPath", e);
        }

    }
@@ -238,8 +256,10 @@
        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);
@@ -250,25 +270,25 @@
        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();
@@ -289,15 +309,10 @@

        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()]);

@@ -306,7 +321,7 @@
                nextNode.setCodeData(nextNodeCodeData);
                includeList.add(nextNode);

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

            }
        }
@@ -328,6 +343,95 @@
        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;