#

luxiaotao1123

2024-12-23 68ed198ddc082ef02f85f6d946af4cd7be0d0ed1

#

 version/db/sqlIndex

@@ -1,3 +1,13 @@
CREATE INDEX idx_agv_action ON man_action(agv_id, action_sts);
CREATE INDEX idx_group_io_time ON man_action(group_id, io_time);
CREATE INDEX idx_priority ON man_action(priority);
CREATE INDEX idx_priority ON man_action(priority);

CREATE INDEX idx_action_sts_uuid ON man_action_sts(uuid);
CREATE INDEX idx_action_type_uuid ON man_action_type(uuid);
CREATE INDEX idx_agv_model_type ON man_agv_model(type);
CREATE INDEX idx_bus_sts_uuid ON man_bus_sts(uuid);
CREATE INDEX idx_loc_sts_uuid ON man_loc_sts(uuid);
CREATE INDEX idx_task_sts_uuid ON man_task_sts(uuid);
CREATE INDEX idx_task_type_uuid ON man_task_type(uuid);
CREATE INDEX idx_zone_uuid ON man_zone(uuid);
CREATE INDEX idx_agv_detail_agv_id ON man_agv_detail(agv_id);

 zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java

@@ -41,6 +41,8 @@

    public static final String AGV_MAP_ROUTE_HASH_FLAG = "AGV_MAP_ROUTE_HASH_FLAG";

    public static final String AGV_MAP_ROUTE_CDA_HASH_FLAG = "AGV_MAP_ROUTE_CDA_HASH_FLAG";

    public static final String AGV_TRAFFIC_JAM_FLAG = "AGV_TRAFFIC_JAM_FLAG";

    public static final String MAP_FLOYD_MATRIX_HEADER_FLAG = "MAP_FLOYD_MATRIX_HEADER_FLAG";

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

@@ -75,6 +75,7 @@
                , 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);

@@ -94,11 +95,10 @@

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

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

                int weight = 0;

@@ -156,6 +156,8 @@
                    }
                }

                Code code = codeService.selectByData(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());
@@ -210,7 +212,7 @@
                RetreatNavigateNode currentNode = openQueue.poll();
                List<RetreatNavigateNode> enableNodes = new ArrayList<>();

                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);

                // 第一步：获取有效转弯点
                if (null == availablePointOfTurn) {
@@ -317,32 +319,25 @@
    }

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

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

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

        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;
    }
@@ -371,28 +366,18 @@
        if (mapMatrix[x][y] == MapNodeType.DISABLE.val)  {

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

        } else {
            if (existNodes.contains(nextNode)) {
                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
            String routeKey = RouteGenerator.generateRouteKey(currentNodeCodeData, nextNodeCodeData);
            Object routeVal = redis.getMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey);
            if (routeVal == null || !(Boolean) routeVal) {
                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;

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

@@ -8,11 +8,8 @@
import com.zy.acs.manager.core.service.LaneService;
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.Route;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.manager.service.RouteService;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -31,10 +28,6 @@

    public static final int WEIGHT_CALC_FACTOR = 1;

    @Autowired
    private CodeService codeService;
    @Autowired
    private RouteService routeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
@@ -58,15 +51,16 @@
        existNodes.add(start);

        int[][] mapMatrix = mapDataDispatcher.getMapMatrix(null, null);
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);

        while (!openQueue.isEmpty()) {
            // 取优先队列顶部元素并且把这个元素从Open表中删除，取F值最小的节点
            NavigateNode currentNode = openQueue.poll();

            ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
            for (NavigateNode node : neighbourNodes) {
                node.setCodeData(codeMatrix[node.getX()][node.getY()]);
                boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();

                int weight = 0;
@@ -178,37 +172,28 @@

    // 获取四周节点
    private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
        //获取当前结点的x, y
        int x = currentNode.getX();
        int y = currentNode.getY();
        //如果当前结点的邻结点合法，就加入到neighbour_node

        ArrayList<NavigateNode> neighbourNodes = new ArrayList<>();

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

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

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

        NavigateNode bottomNode = extendNeighborNodes(currentNode, new NavigateNode(x + 1, y), mapMatrix, existNodes, null, null);
        if (null != bottomNode) {
            neighbourNodes.add(bottomNode);
        }
        possibleNodes.parallelStream()
                .map(extendNode -> extendNeighborNodes(currentNode, extendNode, mapMatrix, existNodes, null, null))
                .filter(Objects::nonNull)
                .forEach(neighbourNodes::add);

        return neighbourNodes;
    }

    private NavigateNode extendNeighborNodes(NavigateNode currentNode, NavigateNode extendNode, int[][] mapMatrix, Set<NavigateNode> existNodes, Integer dx, Integer dy) {
        NavigateNode nextNode = null;
        NavigateNode nextNode;

        if (null == dx || null == dy) {
            dx = extendNode.getX() - currentNode.getX();
@@ -229,32 +214,21 @@
        if (mapMatrix[x][y] == MapNodeType.DISABLE.val)  {

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

        } else {

            if (existNodes.contains(nextNode)) {
                return null;
            }

            // 节点是否可用
            if (mapMatrix[x][y] != MapNodeType.ENABLE.val) {
                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
            String routeKey = RouteGenerator.generateRouteKey(currentNodeCodeData, nextNodeCodeData);
            Object routeVal = redis.getMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey);
            if (routeVal == null || !(Boolean) routeVal) {
                return null;
            }

            return nextNode;
        }

        assert mapMatrix[x][y] == MapNodeType.ENABLE.val;

        if (existNodes.contains(nextNode)) {
            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;
    }

    //------------------A*启发函数------------------//

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

@@ -37,6 +37,8 @@

    private String[][] cdaMatrix;

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

    private final CodeService codeService;

    private final RouteService routeService;
@@ -330,22 +332,47 @@
        return mapMatrix;
    }

    public boolean validRouteCdaKey(String routeCdaKey) {
        if (Cools.isEmpty(routeCdaKey)) {
            return false;
        }
        Boolean result = this.routeCdaMap.get(routeCdaKey);
        if (null == result) {
            return false;
        }
        return result;
    }

    public synchronized void initRouteMap(Integer lev) {
        log.info("There is initializing Route Map......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        Set<String> routeKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG);
        Set<String> routeCdaKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG);

        List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, StatusType.ENABLE.val));
        if (routeKeys.size() == routeList.size()) {
        if (routeKeys.size() == routeList.size() && routeKeys.size() == routeCdaKeys.size()) {
            for (String routeCdaKey : routeCdaKeys) {
                this.routeCdaMap.put(routeCdaKey, Boolean.TRUE);
            }
            return;
        }
        for (Route route : routeList) {
            Code startCode = codeService.getById(route.getStartCode());
            int[] startCodeIdx = getCodeMatrixIdx(lev, startCode.getData());
            Code endCode = codeService.getById(route.getEndCode());
            int[] codeMatrixIdx = getCodeMatrixIdx(lev, endCode.getData());

            String routeKey = RouteGenerator.generateRouteKey(startCode.getData(), endCode.getData());
            if (Cools.isEmpty(routeKey)) {
                continue;
            }
            redis.setMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey, Boolean.TRUE);

            String routeCdaKey = RouteGenerator.generateRouteCdaKey(startCodeIdx, codeMatrixIdx);
            if (Cools.isEmpty(routeCdaKey)) {
                continue;
            }
            redis.setMap(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG, routeCdaKey, Boolean.TRUE);
        }
    }


 zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/RouteGenerator.java

@@ -41,6 +41,17 @@
        }
    }

    public static String generateRouteCdaKey(int[] code0Cda, int[] code1Cda) {
        if (Cools.isEmpty(code0Cda, code1Cda)) {
            return null;
        }
        if (code0Cda[0] < code1Cda[0] || (code0Cda[0] == code1Cda[0] && code0Cda[1] < code1Cda[1])) {
            return code0Cda[0] + "," + code0Cda[1] + "-" + code1Cda[0] + "," + code1Cda[1];
        } else {
            return code1Cda[0] + "," + code1Cda[1] + "-" + code0Cda[0] + "," + code0Cda[1];
        }
    }

    public List<String> generateRoutes(String[][] codeMatrix) {
        List<String> list = new ArrayList<>();