#

vincentlu

2025-01-14 aaa515911eef34e2263ce8baa6f860025fd6060d

#

 zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java

@@ -10,6 +10,22 @@
 */
public class MapDataUtils {

    public static Double[][][] preComputeCdaMatrix(String[][] cdaStrMatrix) {
        int rows = cdaStrMatrix.length;
        int cols = cdaStrMatrix[0].length;

        Double[][][] cdaMatrix = new Double[rows][cols][2];
        for (int i = 0; i < rows; i++) {
            for (int j = 0; j < cols; j++) {
                List<Double> cda = MapDataUtils.parseCdaNode(cdaStrMatrix[i][j]);
                cdaMatrix[i][j][0] = cda.get(0);
                cdaMatrix[i][j][1] = cda.get(1);
            }
        }

        return cdaMatrix;
    }

    public static List<String> parseWaveNode(String waveNodeStr) {
        List<String> waveNodeList = new ArrayList<>();
        if (Cools.isEmpty(waveNodeStr)) {

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

@@ -179,6 +179,7 @@
    }

    private boolean calcWaveScopeByJava(Integer lev) throws Exception {

        AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString());    // can be optimized
        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

@@ -187,15 +188,16 @@
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);

        // lock path
        long time = 0;
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        for (int i = 0; i < dynamicMatrix.length; i++) {
            for (int j = 0; j < dynamicMatrix[i].length; j++) {
                DynamicNode dynamicNode = dynamicMatrix[i][j];
                String vehicle = dynamicNode.getVehicle();
                if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {

                    long startTime = System.currentTimeMillis();
                    List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);

                    time += System.currentTimeMillis() - startTime;
                    for (NavigateNode navigateNode : includeList) {
                        String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
                        waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
@@ -206,7 +208,7 @@

//            mapDataDispatcher.printMatrix(waveMatrix);
        mapDataDispatcher.setWaveMatrix(lev, waveMatrix);

        System.out.println("calcWaveScopeByJava " + time);
        return true;
    }


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

@@ -2,7 +2,6 @@

import com.zy.acs.common.enums.AgvDirectionType;
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.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
@@ -212,7 +211,7 @@
    // v1 BFS ------------------------------------------------------------------------------
    public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, Double radiusLen) {
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
        Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);

        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
        NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
@@ -229,7 +228,7 @@
    }

    public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
            , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
            , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLen
            , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
        int x = currNode.getX();
        int y = currNode.getY();
@@ -241,7 +240,7 @@
    }

    public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode
            , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
            , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLen
            , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {

        int x = nextNode.getX();
@@ -258,11 +257,9 @@

        existNodes.add(nextNode);


        List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
        List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[x][y]);

        if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
        Double[] o1Cda = cdaMatrix[originNode.getX()][originNode.getY()];
        Double[] o2Cda = cdaMatrix[x][y];
        if (Math.pow(o1Cda[0] - o2Cda[0], 2) + Math.pow(o1Cda[1] - o2Cda[1], 2) <= Math.pow(radiusLen, 2)) {
            nextNode.setCodeData(codeMatrix[x][y]);

            if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
@@ -275,83 +272,83 @@
    }

    // v2 BFS ------------------------------------------------------------------------------
    public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);

        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
        NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);

        List<NavigateNode> includeList = new ArrayList<>();
        Set<NavigateNode> visited = new HashSet<>(); // Track visited nodes to avoid re-processing
        Queue<NavigateNode> queue = new LinkedList<>();

        includeList.add(originNode);
        visited.add(originNode);
        queue.offer(originNode);

        while (!queue.isEmpty()) {
            NavigateNode currNode = queue.poll();
            this.spreadWaveNode0(originNode, currNode, codeMatrix, radiusLen, includeList, visited, queue);
        }

        return includeList;
    }

    public void spreadWaveNode0(NavigateNode originNode, NavigateNode currNode,
                               String[][] codeMatrix, Double radiusLen,
                               List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {

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

        // Expand neighbors in all four directions (up, down, left, right)
        this.extendNeighborNodes0(originNode, new NavigateNode(x, y + 1), codeMatrix, radiusLen, includeList, visited, queue);
        this.extendNeighborNodes0(originNode, new NavigateNode(x, y - 1), codeMatrix, radiusLen, includeList, visited, queue);
        this.extendNeighborNodes0(originNode, new NavigateNode(x - 1, y), codeMatrix, radiusLen, includeList, visited, queue);
        this.extendNeighborNodes0(originNode, new NavigateNode(x + 1, y), codeMatrix, radiusLen, includeList, visited, queue);
    }

    public void extendNeighborNodes0(NavigateNode originNode, NavigateNode nextNode,
                                    String[][] codeMatrix, Double radiusLen,
                                    List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
        int x = nextNode.getX();
        int y = nextNode.getY();

        // Check if the node is out of bounds
        if (x < 0 || x >= codeMatrix.length || y < 0 || y >= codeMatrix[0].length) {
            return;
        }

        // If the node has already been visited, skip it
        if (visited.contains(nextNode)) {
            return;
        }

        visited.add(nextNode);

        String nextNodeCodeData = codeMatrix[x][y];

        // If it's a NONE node, we still need to check its surroundings
        if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
            this.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
        } else {
            Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
            String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);

            // Check if the distance between nodes is within the radius length
            List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
            List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);

            // Calculate Euclidean distance between the nodes
            if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
                nextNode.setCodeData(nextNodeCodeData);
                includeList.add(nextNode);

                // Add the node to the queue to expand its neighbors
                queue.offer(nextNode);
            }
        }
    }
//    public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
//        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
//
//        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
//        NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
//
//        List<NavigateNode> includeList = new ArrayList<>();
//        Set<NavigateNode> visited = new HashSet<>(); // Track visited nodes to avoid re-processing
//        Queue<NavigateNode> queue = new LinkedList<>();
//
//        includeList.add(originNode);
//        visited.add(originNode);
//        queue.offer(originNode);
//
//        while (!queue.isEmpty()) {
//            NavigateNode currNode = queue.poll();
//            this.spreadWaveNode0(originNode, currNode, codeMatrix, radiusLen, includeList, visited, queue);
//        }
//
//        return includeList;
//    }
//
//    public void spreadWaveNode0(NavigateNode originNode, NavigateNode currNode,
//                               String[][] codeMatrix, Double radiusLen,
//                               List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
//
//        int x = currNode.getX();
//        int y = currNode.getY();
//
//        // Expand neighbors in all four directions (up, down, left, right)
//        this.extendNeighborNodes0(originNode, new NavigateNode(x, y + 1), codeMatrix, radiusLen, includeList, visited, queue);
//        this.extendNeighborNodes0(originNode, new NavigateNode(x, y - 1), codeMatrix, radiusLen, includeList, visited, queue);
//        this.extendNeighborNodes0(originNode, new NavigateNode(x - 1, y), codeMatrix, radiusLen, includeList, visited, queue);
//        this.extendNeighborNodes0(originNode, new NavigateNode(x + 1, y), codeMatrix, radiusLen, includeList, visited, queue);
//    }
//
//    public void extendNeighborNodes0(NavigateNode originNode, NavigateNode nextNode,
//                                    String[][] codeMatrix, Double radiusLen,
//                                    List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
//        int x = nextNode.getX();
//        int y = nextNode.getY();
//
//        // Check if the node is out of bounds
//        if (x < 0 || x >= codeMatrix.length || y < 0 || y >= codeMatrix[0].length) {
//            return;
//        }
//
//        // If the node has already been visited, skip it
//        if (visited.contains(nextNode)) {
//            return;
//        }
//
//        visited.add(nextNode);
//
//        String nextNodeCodeData = codeMatrix[x][y];
//
//        // If it's a NONE node, we still need to check its surroundings
//        if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
//            this.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
//        } else {
//            Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
//            String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
//
//            // Check if the distance between nodes is within the radius length
//            List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
//            List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);
//
//            // Calculate Euclidean distance between the nodes
//            if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
//                nextNode.setCodeData(nextNodeCodeData);
//                includeList.add(nextNode);
//
//                // Add the node to the queue to expand its neighbors
//                queue.offer(nextNode);
//            }
//        }
//    }


    public Boolean isTurnCorner(String codeData) {

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

@@ -6,6 +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.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;
@@ -36,7 +37,7 @@

    private int[][] turnMatrix;

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

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

@@ -89,13 +90,14 @@
        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
@@ -110,9 +112,9 @@
        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) {