#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -1,25 +1,26 @@
package com.zy.acs.manager.core.service;

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.core.utils.RouteGenerator;
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.*;
import java.util.concurrent.CopyOnWriteArrayList;
import java.util.stream.Collectors;

/**
@@ -31,12 +32,10 @@

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    public static final int WEIGHT_CALC_COEFFICIENT = 1000;
    public static final int WEIGHT_CALC_FACTOR = 10000;

    @Autowired
    private CodeService codeService;
    @Autowired
    private RouteService routeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
@@ -49,6 +48,10 @@
    private LaneService laneService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private JamService jamService;

    /**
     * avoidPathList ===>>  [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -64,10 +67,11 @@
        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);
        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

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

@@ -75,18 +79,20 @@
        RetreatNavigateNode finialNode = null;

        PriorityQueue<RetreatNavigateNode> openQueue = new PriorityQueue<>();
        ArrayList<RetreatNavigateNode> existNodes = new ArrayList<>();
        Set<RetreatNavigateNode> existNodes = new HashSet<>();

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

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

            RetreatNavigateNode currentNode = openQueue.poll();

            List<RetreatNavigateNode> enableNodes = new ArrayList<>();

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

@@ -102,36 +108,60 @@
                        if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                            continue label;
                        }
                        if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                        if (mapService.isWalkingByVehicle(lev, otherWave)) {
                            phaseSecond = false;    // there is a running way
                            continue label;
                        } else {
                            weight += WEIGHT_CALC_COEFFICIENT;
                            weight += WEIGHT_CALC_FACTOR;
                        }
                    }
                }

                // lane
                Lane lane = laneService.search(node.getCodeData());
                if (null != lane) {
                    Set<String> lanVehicleSet = new HashSet<>();
                if (pointOfTurn) {
                    List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                    if (!Cools.isEmpty(laneCodeIdxList)) {
                        Set<String> lanVehicleSet = new HashSet<>();

                    List<String> laneCodes = lane.getCodes();
                    for (String laneCodeData : laneCodes) {
                        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);
                        for (int[] codeMatrixIdx : laneCodeIdxList) {
                            // overlap with sponsor
                            String laneCodeData = codeMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
                            if (avoidPathList.contains(laneCodeData)) {
                                lanVehicleSet.add(sponsor);
                            }

                            DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
                            String laneVehicle = laneDynamicNode.getVehicle();
                            assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                            if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                                if (!laneVehicle.equals(agvNo)) {
                                    lanVehicleSet.add(laneVehicle);
                                }
                            }
                        }
                        if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                            phaseSecond = false;    // there is a running way
                            continue;
                        }
                        if (lanVehicleSet.contains(sponsor)) {
                            weight += WEIGHT_CALC_FACTOR * 2;
                        }
                    }

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

                Code code = codeService.getCacheByData(node.getCodeData());

                // 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;
                    }
                }

@@ -159,7 +189,7 @@
        }


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

            existNodes.clear();
@@ -168,59 +198,59 @@

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

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

                RetreatNavigateNode currentNode = openQueue.poll();
                List<RetreatNavigateNode> enableNodes = new ArrayList<>();

                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
                boolean pointOfTurn = false;
                if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
                    pointOfTurn = true;
                }
                List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);

                // 计算是否为可用转弯点
                if (pointOfTurn) {
                    for (RetreatNavigateNode node : neighborNodes) {
                        // lane
                        Lane lane = laneService.search(node.getCodeData());
                        if (null != lane) {
                            Set<String> lanVehicleSet = new HashSet<>();
                // 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; }

                            List<String> laneCodes = lane.getCodes();
                            for (String laneCodeData : laneCodes) {
                                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);
                        for (RetreatNavigateNode node : neighborNodes) {
                            // lane
                            List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                            if (!Cools.isEmpty(laneCodeIdxList)) {
                                Set<String> lanVehicleSet = new HashSet<>();

                                for (int[] codeMatrixIdx : laneCodeIdxList) {
                                    DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
                                    String laneVehicle = laneDynamicNode.getVehicle();
                                    assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                                    if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                                        if (!laneVehicle.equals(agvNo)) {
                                            lanVehicleSet.add(laneVehicle);
                                        }
                                    }
                                }
                                if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                                    continue;
                                }
                            }

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

                        actuallyLanesOfTurn ++;
                        // 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;
                        }
                    }

                    if (actuallyLanesOfTurn >= 2) {
                        availablePointOfTurn = currentNode;
                        availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                    }

                }


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

@@ -234,15 +264,14 @@
                            if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                                continue;
                            }
                            if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                            if (mapService.isWalkingByVehicle(lev, otherWave)) {

                                if (null != availablePointOfTurn && actuallyLanesOfTurn > 0) {
                                    actuallyLanesOfTurn --;
                                if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
                                    actualLanesOfTurn --;
                                }

                                continue label;
                            } else {
                                weight += WEIGHT_CALC_COEFFICIENT;
                                weight += WEIGHT_CALC_FACTOR;
                            }
                        }
                    }
@@ -260,10 +289,12 @@
                    existNodes.add(node);
                }


                if (!Cools.isEmpty(enableNodes)) {

                    if (actuallyLanesOfTurn >= 2) {
                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);
@@ -278,37 +309,30 @@
    }

    // 获取四周节点
    private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, List<RetreatNavigateNode> existNodes) {
    private List<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) {

        int x = currentNode.getX();
        int y = currentNode.getY();

        ArrayList<RetreatNavigateNode> neighbourNodes = new ArrayList<>();
        List<RetreatNavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();

        RetreatNavigateNode rightNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x, y + 1), existNodes, null, null);
        if (null != rightNode) {
            neighbourNodes.add(rightNode);
        }
        List<RetreatNavigateNode> possibleNodes = Arrays.asList(
                new RetreatNavigateNode(x, y + 1), // right
                new RetreatNavigateNode(x, y - 1), // left
                new RetreatNavigateNode(x - 1, y), // up
                new RetreatNavigateNode(x + 1, y)  // down
        );

        RetreatNavigateNode leftNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x, y - 1), existNodes, null, null);
        if (null != leftNode) {
            neighbourNodes.add(leftNode);
        }

        RetreatNavigateNode topNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x - 1, y), existNodes, null, null);
        if (null != topNode) {
            neighbourNodes.add(topNode);
        }

        RetreatNavigateNode bottomNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x + 1, y), existNodes, null, null);
        if (null != bottomNode) {
            neighbourNodes.add(bottomNode);
        }
        possibleNodes.parallelStream()
                .map(extendNode -> extendNeighborNodes(currentNode, extendNode, existNodes, null, null))
                .filter(Objects::nonNull)
                .peek(node -> node.setCodeData(codeMatrix[node.getX()][node.getY()]))
                .forEach(neighbourNodes::add);

        return neighbourNodes;
    }

    private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, List<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
    private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, Set<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
        RetreatNavigateNode nextNode;

        if (null == dx || null == dy) {
@@ -332,43 +356,21 @@
        if (mapMatrix[x][y] == MapNodeType.DISABLE.val)  {

            return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);
        }

        } else {
            if (this.isExist(nextNode, existNodes)) {
                return null;
            }
        assert mapMatrix[x][y] == MapNodeType.ENABLE.val;

            // 节点是否可用
            if (mapMatrix[x][y] != MapNodeType.ENABLE.val) {
                return null;
            }
        if (existNodes.contains(nextNode)) {
            return null;
        }

            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
            String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
            String nextNodeCodeData = codeMatrix[nextNode.getX()][nextNode.getY()];
            nextNode.setCodeData(nextNodeCodeData);

            // 判断通过性
            Route route = routeService.findByCodeOfBoth(
                    codeService.selectByData(currentNodeCodeData).getId(),
                    codeService.selectByData(nextNodeCodeData).getId()
            );
            if (null == route) {
                return null;
            }

        // 判断通过性
        String routeCdaKey = RouteGenerator.generateRouteCdaKey(new int[]{currentNode.getX(), currentNode.getY()}, new int[]{nextNode.getX(), nextNode.getY()});
        if (!mapDataDispatcher.validRouteCdaKey(routeCdaKey)) {
            return null;
        }

        return nextNode;
    }

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

    private boolean isSame(RetreatNavigateNode o1, RetreatNavigateNode o2) {