#

luxiaotao1123

2025-01-06 b9eef68cc85d30b892a1cd50829341d3dae743b9

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

@@ -4,8 +4,9 @@
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.domain.type.BlockSeverityType;
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.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.entity.Code;
@@ -17,6 +18,7 @@
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.*;
@@ -29,6 +31,8 @@
@Component("mapService")
public class MapService {

    @Value("${floyd.enable}")
    private Boolean floydEnable;
    @Autowired
    private CodeService codeService;
    @Autowired
@@ -46,45 +50,47 @@
     * 寻址 ===>> A Star
     */
    public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
            , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {
            , Boolean lock, List<String> blackList, Segment segment) {

        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
        int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());

        NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
        NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
        AStarNavigateNode startNode = new AStarNavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
        AStarNavigateNode endNode = new AStarNavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());

        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment, blockSeverity);

//        long startTime = System.currentTimeMillis();
        AStarNavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
//        System.out.println("A Star Spend time :" + (System.currentTimeMillis() - startTime));
        if (null == finishNode) {
            log.warn("{} 号AGV检索[{}] ===>> [{}]路径失败......", agvNo, startCode.getData(), endCode.getData());
            return new ArrayList<>();
        }

        ArrayList<NavigateNode> navigateNodes = new ArrayList<>();
        ArrayList<AStarNavigateNode> navigateNodes = new ArrayList<>();

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

            parentNode = finishNode;
            finishNode = finishNode.getParent();
        }

        Collections.reverse(navigateNodes);

//        for (NavigateNode navigateNode : navigateNodes) {
//            navigateNode.setParent(null);
//        }
        List<String> navigatePath = navigateNodes.stream().map(AStarNavigateNode::getCodeData).collect(Collectors.toList());

        return 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());
@@ -196,9 +202,14 @@

            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) {
                            resetCodeList.add(codeMatrix[i][j]);
                        }
                    }
                }
            }
@@ -214,7 +225,7 @@
            }

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

    }
@@ -237,38 +248,40 @@
        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);

        List<NavigateNode> includeList = new ArrayList<>();
        List<NavigateNode> existNodes = new ArrayList<>();
        Set<NavigateNode> existNodes = new HashSet<>();

        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
            , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
            , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
            , List<NavigateNode> includeList, Set<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
            , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
            , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
            , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {

        int x = nextNode.getX();
        int y = nextNode.getY();
@@ -278,54 +291,107 @@
            return;
        }

        if (this.isExist(nextNode, existNodes)) {
        if (existNodes.contains(nextNode)) {
            return;
        }

        existNodes.add(nextNode);


        List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
        List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[x][y]);

        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(codeMatrix[x][y]);

            if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
                includeList.add(nextNode);
            }

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

    }

    // 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 (visited.contains(nextNode)) {
            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.spreadWaveNode(originNode, nextNode, codeMatrix, radiusLen, includeList, existNodes);

            this.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
        } else {

            Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
            String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);

//            Code o1 = codeService.selectByData(originNode.getCodeData());
//            Code o2 = codeService.selectByData(nextNodeCodeData);
            // 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()]);

//            if (Math.pow(o1.getX() - o2.getX(), 2) + Math.pow(o1.getY() - o2.getY(), 2) <= Math.pow(radiusLen, 2)) {
            // 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);

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

                // Add the node to the queue to expand its neighbors
                queue.offer(nextNode);
            }
        }
    }

    private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) {
        for (NavigateNode existNode : existNodes) {
            if (this.isSame(node, existNode)) {
                return true;
            }
        }
        return false;
    }

    private boolean isSame(NavigateNode o1, NavigateNode o2) {
        if (Cools.isEmpty(o1, o2)) {
            return false;
        }
        return o1.getX() == o2.getX() && o1.getY() == o2.getY();
    }

    public Boolean isTurnCorner(String codeData) {
        if (Cools.isEmpty(codeData)) {