#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -6,7 +6,7 @@
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.common.utils.MapDataUtils;
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;
@@ -15,16 +15,19 @@
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.RouteService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.event.EventListener;
import org.springframework.boot.context.event.ApplicationReadyEvent;
import org.springframework.stereotype.Service;

import javax.annotation.PostConstruct;
import java.util.*;
import java.util.concurrent.ConcurrentLinkedQueue;
import java.util.stream.Collectors;
import java.util.stream.IntStream;

/**
 * Created by vincent on 6/6/2024
 */
@Slf4j
@Service
public class MapDataDispatcher {

    public static final Integer MAP_DEFAULT_LEV = 1;
@@ -40,17 +43,26 @@

    private int[][] turnMatrix;

    private String[][] cdaMatrix;
    private Double[][][] cdaMatrix;

    public Map<String, Boolean> routeCdaMap = new HashMap<>();

    private final CodeService codeService;
    @Autowired
    private CodeService codeService;

    private final RouteService routeService;
    @Autowired
    private RouteService routeService;

    public MapDataDispatcher(CodeService codeService, RouteService routeService) {
        this.codeService = codeService;
        this.routeService = routeService;
    @PostConstruct
    public void init() {
        String[][] codeMatrix = this.getCodeMatrix(null);
        this.initRouteMap(null);
        if (codeMatrix.length > 0) {
            this.getMapMatrix(null, null);
            this.getTurnMatrix(null);
            this.getCdaMatrix(null);
            this.getDynamicMatrix(null);
        }
    }

    public String[][] getWaveMatrix(Integer lev) {
@@ -93,13 +105,14 @@
        redis.setValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(lev), JSON.toJSONString(dynamicMatrix));
    }

    public String[][] getCdaMatrix(Integer lev) {
    public Double[][][] getCdaMatrix(Integer lev) {
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        // redis
        if (null == this.cdaMatrix) {
            String cdaMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev));
            if (!Cools.isEmpty(cdaMatrixStr)) {
                this.cdaMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
                String[][] cdaStrMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
                this.cdaMatrix = MapDataUtils.preComputeCdaMatrix(cdaStrMatrix);
            }
        }
        // init
@@ -114,9 +127,9 @@
        return this.cdaMatrix;
    }

    public void setCdaMatrix(Integer lev, String[][] cdaMatrix) {
        redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaMatrix));
        this.cdaMatrix = cdaMatrix;
    public void setCdaMatrix(Integer lev, String[][] cdaStrMatrix) {
        redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaStrMatrix));
        this.cdaMatrix = MapDataUtils.preComputeCdaMatrix(cdaStrMatrix);
    }

    public int[][] getTurnMatrix(Integer lev) {
@@ -221,6 +234,9 @@
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
        if (null == codeMatrix || codeMatrix.length == 0) {
            return new DynamicNode[0][0];
        }
        DynamicNode[][] dynamicMatrix = new DynamicNode[codeMatrix.length][codeMatrix[0].length];

        for (int i = 0; i < codeMatrix.length; i++) {
@@ -255,7 +271,7 @@
                    cdaArr.add(yIdxList.get(i));
                    cdaMatrix[i][j] = JSON.toJSONString(cdaArr);
                } else {
                    Code currCode = codeService.selectByData(codeMatrix[i][j]);
                    Code currCode = codeService.getCacheByData(codeMatrix[i][j]);
                    if (null != currCode) {
                        List<Double> cdaArr = new ArrayList<>();
                        cdaArr.add(currCode.getX());
@@ -284,7 +300,7 @@
                if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
                    turnMatrix[i][j] = TurnNodeType.NONE.val;
                } else {
                    Code currCode = codeService.selectByData(codeMatrix[i][j]);
                    Code currCode = codeService.getCacheByData(codeMatrix[i][j]);
                    List<String> neighborCodeList = routeService.findCodeDataOfSingle(currCode.getId());

                    switch (neighborCodeList.size()) {
@@ -368,9 +384,9 @@
            return;
        }
        for (Route route : routeList) {
            Code startCode = codeService.getById(route.getStartCode());
            Code startCode = codeService.getCacheById(route.getStartCode());
            int[] startCodeIdx = getCodeMatrixIdx(lev, startCode.getData());
            Code endCode = codeService.getById(route.getEndCode());
            Code endCode = codeService.getCacheById(route.getEndCode());
            int[] codeMatrixIdx = getCodeMatrixIdx(lev, endCode.getData());

            String routeKey = RouteGenerator.generateRouteKey(startCode.getData(), endCode.getData());
@@ -483,50 +499,11 @@
        return codeMatrixIdxList;
    }

    public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
        if (Cools.isEmpty(nodeType)) {
            return new ArrayList<>();
        }
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);
        String[][] codeMatrix = this.getCodeMatrix(lev);

        ConcurrentLinkedQueue<SortCodeDto> codeList = new ConcurrentLinkedQueue<>();

        IntStream.range(0, codeMatrix.length).parallel().forEach(i -> {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                DynamicNode dynamicNode = dynamicMatrix[i][j];
                if (nodeType.equals(dynamicNode.getVehicle())) {
                    codeList.add(new SortCodeDto(codeMatrix[i][j], dynamicNode.getSerial()));
                }
            }
        });

        return codeList.stream()
                .sorted(Comparator.comparingInt(SortCodeDto::getSerial))
                .map(SortCodeDto::getCode)
                .collect(Collectors.toList());

//        List<SortCodeDto> codeList = new ArrayList<>();

//        for (int i = 0; i < codeMatrix.length; i++) {
//            for (int j = 0; j < codeMatrix[i].length; j++) {
//                DynamicNode dynamicNode = dynamicMatrix[i][j];
//                if (nodeType.equals(dynamicNode.getVehicle())) {
//                    codeList.add(new SortCodeDto(codeMatrix[i][j], dynamicNode.getSerial()));
//                }
//            }
//        }
//        codeList.sort(Comparator.comparingInt(SortCodeDto::getSerial));
//        return codeList.stream().map(SortCodeDto::getCode).collect(Collectors.toList());
    public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle) {
        this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false);
    }

    public void modifyDynamicMatrix(Integer lev, List<String> codeDataList, String vehicle) {
        this.modifyDynamicMatrix(lev, codeDataList, vehicle, false);
    }

    public synchronized void modifyDynamicMatrix(Integer lev, List<String> codeDataList, String vehicle, boolean reset) {
    public synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset) {
        if (Cools.isEmpty(vehicle)) {
            return;
        }
@@ -536,8 +513,7 @@
        if (!reset) {
//            long time = System.currentTimeMillis() / 1000;
            int serial = 1;
            for (String codeData : codeDataList) {
                int[] codeMatrixIdx = getCodeMatrixIdx(lev, codeData);
            for (int[] codeMatrixIdx : codeIdxList) {
                dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial);
                serial++;
            }
@@ -555,8 +531,8 @@
        setDynamicMatrix(lev, dynamicMatrix);
    }

    public void clearDynamicMatrixByCodeList(Integer lev, List<String> codeDataList) {
        this.modifyDynamicMatrix(lev, codeDataList, DynamicNodeType.ACCESS.val);
    public void clearDynamicMatrixByCodeList(Integer lev, List<int[]> codeIdxList) {
        this.modifyDynamicMatrix(lev, codeIdxList, DynamicNodeType.ACCESS.val);
    }

    public int[][] filterMapData(int[][] mapMatrix, Integer lev, List<String> lockNodes) {