#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

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

@@ -1,24 +1,26 @@
package com.zy.acs.manager.core.service;

import com.zy.acs.framework.common.Cools;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
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.domain.Lane;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Route;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.RouteService;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

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

/**
@@ -27,6 +29,10 @@
@Slf4j
@Service
public class RetreatNavigateService {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    public static final int WEIGHT_CALC_FACTOR = 10000;

    @Autowired
    private CodeService codeService;
@@ -40,6 +46,14 @@
    private AgvService agvService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private JamService jamService;

    /**
     * avoidPathList ===>>  [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -50,16 +64,17 @@
            return null;
        }
        Integer lev = null;
        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);

        String breakPoint = avoidPathList.stream().findFirst().orElse(null);
        List<String> blackList = Utils.singletonList(sponsor);

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
                , MapDataConstant.IDLE_DISTANCE_COE);
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);



        RetreatNavigateNode finialNode = null;
@@ -69,6 +84,7 @@

        openQueue.add(start);
        existNodes.add(start);
        boolean phaseSecond = true;

        while (openQueue.size() > 0 && null == finialNode) {

@@ -77,23 +93,77 @@
            List<RetreatNavigateNode> enableNodes = new ArrayList<>();

            ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
            for (RetreatNavigateNode node : neighborNodes) {
            boolean pointOfTurn = neighborNodes.size() >= 2;
            label: for (RetreatNavigateNode node : neighborNodes) {
                if (node.getCodeData().equals(breakPoint)) { continue; }
                Code code = codeService.selectByData(node.getCodeData());

                int weight = 0;

                // wave
                String waveNode = waveMatrix[node.getX()][node.getY()];
                assert !waveNode.equals(WaveNodeType.DISABLE.val);
                if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
                    List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
                    List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                    if (!Cools.isEmpty(otherWaveList)) {
                    for (String otherWave : otherWaveList) {
                        if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                            continue label;
                        }
                        if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                            phaseSecond = false;    // there is a running way
                            continue label;
                        } else {
                            weight += WEIGHT_CALC_FACTOR;
                        }
                    }
                }

                        if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
                            continue;
                // lane
                if (pointOfTurn) {
                    Lane lane = laneService.search(node.getCodeData());
                    if (null != lane) {
                        Set<String> lanVehicleSet = new HashSet<>();

                        for (String laneCodeData : lane.getCodes()) {
                            // overlap with sponsor
                            if (avoidPathList.contains(laneCodeData)) {
                                lanVehicleSet.add(sponsor);
                            }

                            int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                            // scan dynamicMatrix or WaveMatrix
                            DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
                            String laneVehicle = laneDynamicNode.getVehicle();
                            assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                            if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                                if (!laneVehicle.equals(agvNo)) {
                                    lanVehicleSet.add(laneVehicle);
//                                    redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
                                }
                            }
                        }

                        weight += otherWaveList.size();
                        if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                            phaseSecond = false;    // there is a running way
                            continue;
                        }
                        if (lanVehicleSet.contains(sponsor)) {
                            weight += WEIGHT_CALC_FACTOR * 2;
                        }
                    }
                }

                // judge whether the node has already been marked as a retreat node?
                // This is a very troublesome matter, if the node be repeatedly mark as a retreat node
                List<Segment> runningSegments = segmentService.getRunningByEndCode(code.getId());
                for (Segment runningSeg : runningSegments) {
                    if (0 < jamService.count(new LambdaQueryWrapper<Jam>()
                            .eq(Jam::getAvoSeg, runningSeg.getId())
                            .ne(Jam::getState, JamStateType.DEPRECATED.toString()))) {
                        weight += WEIGHT_CALC_FACTOR * 3;
                    } else {
                        weight += WEIGHT_CALC_FACTOR;
                    }
                }

@@ -121,15 +191,17 @@
        }


        if (null == finialNode) {
        if (null == finialNode && phaseSecond) {
//            assert openQueue.size() == 0;

            existNodes.clear();
            openQueue.add(start);
            existNodes.add(start);

            RetreatNavigateNode firstPointOfTurn = null;
            List<String> firstPointWaveScopeOfTurn = new ArrayList<>();
            RetreatNavigateNode availablePointOfTurn = null;
            List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
            int actualLanesOfTurn = 0;
            int filterPointOfTurnTimes = 0;

            while (openQueue.size() > 0 && null == finialNode) {

@@ -137,31 +209,81 @@
                List<RetreatNavigateNode> enableNodes = new ArrayList<>();

                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
                int forks = neighborNodes.size();
                if (firstPointOfTurn == null && forks >= 2 && !isSame(start, currentNode)) {
                    firstPointOfTurn = currentNode;
                    firstPointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, firstPointOfTurn.getCodeData(), avoidDistance)
                            .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());

                // 第一步：获取有效转弯点
                if (null == availablePointOfTurn) {
                    // 计算是否为可用转弯点
                    if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
                        filterPointOfTurnTimes ++;
                        if (filterPointOfTurnTimes > 2) { break; }

                        for (RetreatNavigateNode node : neighborNodes) {
                            // lane
                            Lane lane = laneService.search(node.getCodeData());
                            if (null != lane) {
                                Set<String> lanVehicleSet = new HashSet<>();

                                for (String laneCodeData : lane.getCodes()) {
                                    int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                                    // scan dynamicMatrix or WaveMatrix
                                    DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
                                    String laneVehicle = laneDynamicNode.getVehicle();
                                    assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                                    if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                                        if (!laneVehicle.equals(agvNo)) {
                                            lanVehicleSet.add(laneVehicle);
//                                            redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
                                        }
                                    }
                                }

                                if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                                    continue;
                                }
                            }

                            actualLanesOfTurn ++;
                        }

                        // 有两条以上可走巷道，则视为有效转弯点
                        if (actualLanesOfTurn >= 2) {
                            availablePointOfTurn = currentNode;
                            availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                        } else {
                            actualLanesOfTurn = 0;
                        }
                    }
                }

                for (RetreatNavigateNode node : neighborNodes) {

                // 延伸转弯点巷道
                label: for (RetreatNavigateNode node : neighborNodes) {
                    int weight = 0;

                    // wave
                    String waveNode = waveMatrix[node.getX()][node.getY()];
                    assert !waveNode.equals(WaveNodeType.DISABLE.val);
                    if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
                        List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
                        List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                        if (!Cools.isEmpty(otherWaveList)) {
                        for (String otherWave : otherWaveList) {
                            if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                                continue;
                            }
                            if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {

                            weight += otherWaveList.size();
                                if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
                                    actualLanesOfTurn --;
                                }
                                continue label;
                            } else {
                                weight += WEIGHT_CALC_FACTOR;
                            }
                        }
                    }

                    // have cross turn road
                    if (null != firstPointOfTurn) {
                        if (!firstPointWaveScopeOfTurn.contains(node.getCodeData())) {
                    if (null != availablePointOfTurn) {
                        if (!availablePointWaveScopeOfTurn.contains(node.getCodeData())) {
                            enableNodes.add(node);
                        }
                    }
@@ -173,10 +295,16 @@
                    existNodes.add(node);
                }

                if (!Cools.isEmpty(enableNodes)) {
                    Collections.sort(enableNodes);
                    finialNode = enableNodes.stream().findFirst().orElse(null);
                    jam.setCycleAvo(1);
                if (actualLanesOfTurn < 2) {
                    availablePointOfTurn = null;
                    availablePointWaveScopeOfTurn = new ArrayList<>();
                    actualLanesOfTurn = 0;
                } else {
                    if (!Cools.isEmpty(enableNodes)) {
                        Collections.sort(enableNodes);
                        finialNode = enableNodes.stream().findFirst().orElse(null);
                        jam.setCycleAvo(1);
                    }
                }

            }
@@ -184,18 +312,6 @@
        }

        return finialNode;
    }

    private int calcNodeWeightVal(List<String> otherWaveList) {
        int weightVal = 0;

        if (!Cools.isEmpty(otherWaveList)) {


        }


        return weightVal;
    }

    // 获取四周节点