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luxiaotao1123

2024-11-04 5ce35462885d01b158df729d1ffb4068c31591d2

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

@@ -1,24 +1,25 @@
package com.zy.acs.manager.core.service;

import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.common.utils.Utils;
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.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.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 +28,10 @@
@Slf4j
@Service
public class RetreatNavigateService {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    public static final int WEIGHT_CALC_COEFFICIENT = 1000;

    @Autowired
    private CodeService codeService;
@@ -40,6 +45,10 @@
    private AgvService agvService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;
    @Autowired
    private ConfigService configService;

    /**
     * avoidPathList ===>>  [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -50,6 +59,7 @@
            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);
@@ -58,8 +68,8 @@
                , MapDataConstant.IDLE_DISTANCE_COE);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

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



        RetreatNavigateNode finialNode = null;
@@ -77,23 +87,51 @@
            List<RetreatNavigateNode> enableNodes = new ArrayList<>();

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

                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)) {

                        if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
                            continue;
                    for (String otherWave : otherWaveList) {
                        if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                            continue label;
                        }
                        if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                            continue label;
                        } else {
                            weight += WEIGHT_CALC_COEFFICIENT;
                        }
                    }
                        }

                        weight += otherWaveList.size();
                // lane
                Lane lane = laneService.search(node.getCodeData());
                if (null != lane) {
                    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);
                            }
                        }
                    }

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

@@ -144,18 +182,50 @@
                            .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                }

                for (RetreatNavigateNode node : neighborNodes) {
                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()) {
                                continue label;
                            } else {
                                weight += WEIGHT_CALC_COEFFICIENT;
                            }
                        }
                    }

                            weight += otherWaveList.size();
                    // lane
                    Lane lane = laneService.search(node.getCodeData());
                    if (null != lane) {
                        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);
                                }
                            }
                        }

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


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

@@ -14,9 +14,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.List;
import java.util.PriorityQueue;
import java.util.*;

/**
 * Created by vincent on 6/12/2024
@@ -122,7 +120,7 @@
                // 单巷道车辆容载数量
                Lane lane = laneService.search(node.getCodeData());
                if (null != lane) {
                    int otherVehicleCount = 0;
                    Set<String> lanVehicleSet = new HashSet<>();

                    List<String> laneCodes = lane.getCodes();
                    for (String laneCodeData : laneCodes) {
@@ -133,13 +131,13 @@
                        assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                        if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                            if (!laneVehicle.equals(agvNo)) {
                                otherVehicleCount++;
                                lanVehicleSet.add(laneVehicle);
//                                redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
                            }
                        }
                    }

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