From 2bdbfd1ac24d4e9a87daf6fb8b99ec32264d5752 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 21 十二月 2024 11:25:27 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 207 ++++++++++++++++++++++++---------------------------
1 files changed, 99 insertions(+), 108 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
index 683984a..62dc062 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
@@ -2,19 +2,22 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.acs.framework.common.Cools;
-import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.common.constant.RedisConstant;
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.core.service.astart.domain.DynamicNode;
+import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Code;
+import com.zy.acs.manager.manager.entity.Route;
+import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.RouteService;
import lombok.extern.slf4j.Slf4j;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Optional;
+import java.util.*;
+import java.util.stream.Collectors;
/**
* Created by vincent on 6/6/2024
@@ -26,19 +29,11 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- public static final Boolean CACHE_CODE_MATRIX = Boolean.FALSE;
-
private String[][] codeMatrix;
-
- public static final Boolean CACHE_MAP_MATRIX = Boolean.FALSE;
private int[][] mapMatrix;
- public static final Boolean CACHE_TURN_MATRIX = Boolean.FALSE;
-
private int[][] turnMatrix;
-
- public static final Boolean CACHE_CDA_MATRIX = Boolean.FALSE;
private String[][] cdaMatrix;
@@ -93,141 +88,110 @@
public String[][] getCdaMatrix(Integer lev) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
- String[][] cdaMatrix;
-
- if (!CACHE_CDA_MATRIX) {
- if (null == this.cdaMatrix) {
- cdaMatrix = this.initCdaMatrix(lev);
- setCdaMatrix(lev, cdaMatrix);
- } else {
- cdaMatrix = this.cdaMatrix;
- }
- } else {
+ // redis
+ if (null == this.cdaMatrix) {
String cdaMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev));
- if (Cools.isEmpty(cdaMatrixStr)) {
- cdaMatrix = this.initCdaMatrix(lev);
- setCdaMatrix(lev, cdaMatrix);
- } else {
- cdaMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
+ if (!Cools.isEmpty(cdaMatrixStr)) {
+ this.cdaMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
}
}
- if (null == cdaMatrix) {
+ // init
+ if (null == this.cdaMatrix) {
+ String[][] initCdaMatrix = this.initCdaMatrix(lev);
+ setCdaMatrix(lev, initCdaMatrix);
+ }
+ // valid
+ if (null == this.cdaMatrix) {
throw new CoolException("the floor " + lev + " cannot found cda matrix !!!");
}
- return cdaMatrix;
+ return this.cdaMatrix;
}
public void setCdaMatrix(Integer lev, String[][] cdaMatrix) {
- if (!CACHE_CDA_MATRIX) {
- this.cdaMatrix = cdaMatrix;
- } else {
- redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaMatrix));
- }
+ redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaMatrix));
+ this.cdaMatrix = cdaMatrix;
}
public int[][] getTurnMatrix(Integer lev) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
- int[][] turnMatrix;
- if (!CACHE_TURN_MATRIX) {
- if (null == this.turnMatrix) {
- turnMatrix = this.initTurnMatrix(lev);
- setTurnMatrix(lev, turnMatrix);
- } else {
- turnMatrix = this.turnMatrix;
- }
- } else {
+ // redis
+ if (null == this.turnMatrix) {
String turnMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev));
- if (Cools.isEmpty(turnMatrixStr)) {
- turnMatrix = this.initTurnMatrix(lev);
- setTurnMatrix(lev, turnMatrix);
- } else {
- turnMatrix = JSON.parseObject(turnMatrixStr, int[][].class);
+ if (!Cools.isEmpty(turnMatrixStr)) {
+ this.turnMatrix = JSON.parseObject(turnMatrixStr, int[][].class);
}
}
- if (null == turnMatrix) {
+ // init
+ if (null == this.turnMatrix) {
+ int[][] initTurnMatrix = this.initTurnMatrix(lev);
+ setTurnMatrix(lev, initTurnMatrix);
+ }
+ // valid
+ if (null == this.turnMatrix) {
throw new CoolException("the floor " + lev + " cannot found turn matrix !!!");
}
- return turnMatrix;
+ return this.turnMatrix;
}
public void setTurnMatrix(Integer lev, int[][] turnMatrix) {
- if (!CACHE_TURN_MATRIX) {
- this.turnMatrix = turnMatrix;
- } else {
- redis.setValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev), JSON.toJSONString(turnMatrix));
- }
+ redis.setValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev), JSON.toJSONString(turnMatrix));
+ this.turnMatrix = turnMatrix;
}
public int[][] getMapMatrix(Integer lev, List<String> lockNodes) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
- int[][] mapMatrix;
- if (!CACHE_MAP_MATRIX) {
- if (null == this.mapMatrix) {
- mapMatrix = this.initMapMatrix(lev);
- setMapMatrix(lev, mapMatrix);
- } else {
- mapMatrix = this.mapMatrix;
- }
- } else {
+ // redis
+ if (null == this.mapMatrix) {
String mapMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev));
- if (Cools.isEmpty(mapMatrixStr)) {
- mapMatrix = this.initMapMatrix(lev);
- setMapMatrix(lev, mapMatrix);
- } else {
- mapMatrix = JSON.parseObject(mapMatrixStr, int[][].class);
+ if (!Cools.isEmpty(mapMatrixStr)) {
+ this.mapMatrix = JSON.parseObject(mapMatrixStr, int[][].class);
}
}
- if (null == mapMatrix) {
+ // init
+ if (null == this.mapMatrix) {
+ int[][] initMapMatrix = this.initMapMatrix(lev);
+ setMapMatrix(lev, initMapMatrix);
+ }
+ // valid
+ if (null == this.mapMatrix) {
throw new CoolException("the floor " + lev + " cannot found map matrix !!!");
}
- if (!Cools.isEmpty(lockNodes)) {
- mapMatrix = filterMapData(mapMatrix, lev, lockNodes);
- }
- return mapMatrix;
+ return this.mapMatrix;
}
public void setMapMatrix(Integer lev, int[][] mapMatrix) {
- if (!CACHE_MAP_MATRIX) {
- this.mapMatrix = mapMatrix;
- } else {
- redis.setValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev), JSON.toJSONString(mapMatrix));
- }
+ redis.setValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev), JSON.toJSONString(mapMatrix));
+ this.mapMatrix = mapMatrix;
}
public String[][] getCodeMatrix(Integer lev) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
- String[][] codeMatrix;
- if (!CACHE_CODE_MATRIX) {
- if (null == this.codeMatrix) {
- codeMatrix = this.initCodeMatrix(lev);
- setCodeMatrix(lev, codeMatrix);
- } else {
- codeMatrix = this.codeMatrix;
- }
- } else {
+ // redis
+ if (null == this.codeMatrix) {
String codeMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev));
- if (Cools.isEmpty(codeMatrixStr)) {
- codeMatrix = this.initCodeMatrix(lev);
- setCodeMatrix(lev, codeMatrix);
- } else {
- codeMatrix = JSON.parseObject(codeMatrixStr, String[][].class);
+ if (!Cools.isEmpty(codeMatrixStr)) {
+ this.codeMatrix = JSON.parseObject(codeMatrixStr, String[][].class);
}
}
- if (null == codeMatrix) {
+ // init
+ if (null == this.codeMatrix) {
+ String[][] initCodeMatrix = this.initCodeMatrix(lev);
+ setCodeMatrix(lev, initCodeMatrix);
+ }
+ // valid
+ if (null == this.codeMatrix) {
throw new CoolException("the floor " + lev + " cannot found code matrix !!!");
}
- return codeMatrix;
+ return this.codeMatrix;
}
public void setCodeMatrix(Integer lev, String[][] codeMatrix) {
- if (!CACHE_CODE_MATRIX) {
- this.codeMatrix = codeMatrix;
- } else {
- redis.setValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev), JSON.toJSONString(codeMatrix));
- }
+ redis.setValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev), JSON.toJSONString(codeMatrix));
+ this.codeMatrix = codeMatrix;
}
public String[][] initWaveMatrix(Integer lev) {
+ log.info("There is initializing Wave Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -247,6 +211,7 @@
}
public synchronized DynamicNode[][] initDynamicMatrix(Integer lev) {
+ log.info("There is initializing Dynamic Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -266,6 +231,7 @@
}
public synchronized String[][] initCdaMatrix(Integer lev) {
+ log.info("There is initializing Cda Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -294,6 +260,7 @@
}
public synchronized int[][] initTurnMatrix(Integer lev) {
+ log.info("There is initializing Turn Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -342,6 +309,7 @@
public synchronized int[][] initMapMatrix(Integer lev) {
+ log.info("There is initializing Map Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -362,8 +330,27 @@
return mapMatrix;
}
+ 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);
+ List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, StatusType.ENABLE.val));
+ if (routeKeys.size() == routeList.size()) {
+ return;
+ }
+ for (Route route : routeList) {
+ Code startCode = codeService.getById(route.getStartCode());
+ Code endCode = codeService.getById(route.getEndCode());
+ String routeKey = RouteGenerator.generateRouteKey(startCode.getData(), endCode.getData());
+ if (Cools.isEmpty(routeKey)) {
+ continue;
+ }
+ redis.setMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey, Boolean.TRUE);
+ }
+ }
+
public synchronized String[][] initCodeMatrix(Integer lev) {
- log.info("銆怉STAR銆戞鍦ㄨ绠楃煩闃垫暟鎹�......");
+ log.info("There is initializing Code Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>()
.eq(Code::getStatus, 1)
@@ -447,21 +434,24 @@
}
public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
- List<String> nodes = new ArrayList<>();
if (Cools.isEmpty(nodeType)) {
- return nodes;
+ return new ArrayList<>();
}
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
+
+ List<SortCodeDto> codeList = new ArrayList<>();
DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);
String[][] codeMatrix = this.getCodeMatrix(lev);
for (int i = 0; i < codeMatrix.length; i++) {
for (int j = 0; j < codeMatrix[i].length; j++) {
- if (nodeType.equals(dynamicMatrix[i][j].getVehicle())) {
- nodes.add(codeMatrix[i][j]);
+ DynamicNode dynamicNode = dynamicMatrix[i][j];
+ if (nodeType.equals(dynamicNode.getVehicle())) {
+ codeList.add(new SortCodeDto(codeMatrix[i][j], dynamicNode.getSerial()));
}
}
}
- return nodes;
+ codeList.sort(Comparator.comparingInt(SortCodeDto::getSerial));
+ return codeList.stream().map(SortCodeDto::getCode).collect(Collectors.toList());
}
public void modifyDynamicMatrix(Integer lev, List<String> codeList, String vehicle) {
@@ -476,10 +466,11 @@
if (Cools.isEmpty(codeList, vehicle)) {
return;
}
+ long time = System.currentTimeMillis() / 1000;
int serial = 1;
for (String code : codeList) {
int[] node = getCodeMatrixIdx(lev, code);
- dynamicMatrix[node[0]][node[1]] = new DynamicNode(vehicle, serial);
+ dynamicMatrix[node[0]][node[1]] = new DynamicNode(vehicle, serial, time);
serial++;
}
} else {
--
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