#

vincentlu

昨天 60fda68af793008947c9b26950421a40363a73a2

#

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

@@ -7,6 +7,7 @@
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.DirectionDto;
import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
import com.zy.acs.manager.core.domain.VehicleFootprint;
@@ -205,9 +206,20 @@
        return Math.sqrt(deltaX * deltaX + deltaY * deltaY);
    }

    public void lockPath(Integer lev, List<String> pathList, String agvNo) {
        List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, pathList);
        mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo);
    public void lockPath(Integer lev, List<PathDto> pathList, String agvNo) {
        if (Cools.isEmpty(agvNo, pathList)) {
            return;
        }
        List<PathDto> normalized = pathList.stream()
                .filter(Objects::nonNull)
                .filter(dto -> !Cools.isEmpty(dto.getCode()))
                .collect(Collectors.toList());
        if (Cools.isEmpty(normalized)) {
            return;
        }
        List<String> codeList = normalized.stream().map(PathDto::getCode).collect(Collectors.toList());
        List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, codeList);
        mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo, normalized);
    }

    public void unlockPath(String agvNo, String codeData) {

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

@@ -282,7 +282,7 @@
            List<PathDto> pathDtoList = mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
//            System.out.println("generateAction: " + (System.currentTimeMillis() - startTime));

            mapService.lockPath(null, pathList, agv.getUuid());
            mapService.lockPath(null, pathDtoList, agv.getUuid());

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);

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

@@ -7,6 +7,7 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.PathDto;
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;
@@ -16,8 +17,6 @@
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;
@@ -500,10 +499,18 @@
    }

    public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle) {
        this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false);
        this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false, null);
    }

    public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, List<PathDto> pathTrace) {
        this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false, pathTrace);
    }

    public synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset) {
        this.modifyDynamicMatrix(lev, codeIdxList, vehicle, reset, null);
    }

    private synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset, List<PathDto> pathTrace) {
        if (Cools.isEmpty(vehicle)) {
            return;
        }
@@ -511,10 +518,15 @@
        DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);

        if (!reset) {
//            long time = System.currentTimeMillis() / 1000;
            int serial = 1;
            for (int[] codeMatrixIdx : codeIdxList) {
                dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial);
            for (int i = 0; i < codeIdxList.size(); i++) {
                int[] codeMatrixIdx = codeIdxList.get(i);

                PathDto pathDto = (pathTrace != null && i < pathTrace.size()) ? pathTrace.get(i) : null;
                Double direction = pathDto == null ? null : pathDto.getDirection();
                boolean turn = pathDto != null && pathDto.isTurn();

                dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial, direction, turn);
                serial++;
            }
        } else {

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

@@ -17,6 +17,10 @@

    private int serial = -1;

    private Double direction;

    private boolean turn = false;

    public DynamicNode() {}

    public DynamicNode(String vehicle) {
@@ -28,4 +32,11 @@
        this.serial = DynamicNodeType.ACCESS.val.equals(vehicle) ? -1 : serial;
    }

    public DynamicNode(String vehicle, int serial, Double direction, boolean turn) {
        this.vehicle = vehicle;
        this.serial = serial;
        this.direction = direction;
        this.turn = turn;
    }

}