#

luxiaotao1123

2025-01-07 e7cc0981a18fa322642dadddf7043623c83d676f

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

@@ -5,8 +5,9 @@
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.UnlockPathTask;
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.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Loc;
@@ -15,12 +16,13 @@
import com.zy.acs.manager.manager.service.CodeService;
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.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

import java.util.*;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;

/**
@@ -44,6 +46,8 @@
    private ConfigService configService;
    @Autowired
    private ActionService actionService;
    @Autowired
    private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;

    /**
     * 寻址 ===>> A Star
@@ -54,35 +58,26 @@
        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());

        long startTime = System.currentTimeMillis();
        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
//        System.out.println("AStart spend time: " + (System.currentTimeMillis() - startTime));

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

        // max count of steps
        if (navigatePath.size() > MapDataConstant.MAX_STEPS_SINGLE) {
@@ -181,61 +176,16 @@
    }

    public void lockPath(Integer lev, List<String> pathList, String agvNo) {
        mapDataDispatcher.modifyDynamicMatrix(lev, pathList, agvNo);
        List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, pathList);
        mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo);
    }

    public synchronized void unlockPath(String agvNo, String codeData) {
    public void unlockPath(String agvNo, String codeData) {
        try {
            StopWatch stopWatch = new StopWatch();
            stopWatch.start();

            if (Cools.isEmpty(agvNo, codeData)) {
                return;
            }

            Integer lev = null;

            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
            int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, codeData);


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

            DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];


            Integer serial = dynamicNode.getSerial();

            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)) {
                        if (node.getSerial() < serial) {
                            resetCodeList.add(codeMatrix[i][j]);
                        }
                    }
                }
            }

            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("MapService.unlockPath", e);
            unlockTaskQueue.offer(new UnlockPathTask(agvNo, codeData), 5, TimeUnit.SECONDS);
        } catch (InterruptedException e) {
            log.error("unlockTaskQueue", e);
        }

    }

    public List<String> getWaveScopeByCodeList(Integer lev, List<String> codeList, Double radiusLen) {