From 68ed198ddc082ef02f85f6d946af4cd7be0d0ed1 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 23 十二月 2024 10:39:03 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 29 +++++++
zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 67 ++++++----------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 82 +++++++-------------
version/db/sqlIndex | 12 ++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/RouteGenerator.java | 11 ++
6 files changed, 106 insertions(+), 97 deletions(-)
diff --git a/version/db/sqlIndex b/version/db/sqlIndex
index 47b9482..0df842d 100644
--- a/version/db/sqlIndex
+++ b/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);
\ No newline at end of file
+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);
diff --git a/zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java b/zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java
index 0270942..9bd8c93 100644
--- a/zy-acs-common/src/main/java/com/zy/acs/common/constant/RedisConstant.java
+++ b/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";
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
index 1583ceb..5b13f69 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
+++ b/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);
// 绗竴姝ワ細鑾峰彇鏈夋晥杞集鐐�
if (null == availablePointOfTurn) {
@@ -317,32 +319,25 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- 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;
- // 鑺傜偣鏄惁鍙敤
- 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);
-
- // 鍒ゆ柇閫氳繃鎬�
- String routeKey = RouteGenerator.generateRouteKey(currentNodeCodeData, nextNodeCodeData);
- Object routeVal = redis.getMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey);
- if (routeVal == null || !(Boolean) routeVal) {
- return null;
- }
+ // 鍒ゆ柇閫氳繃鎬�
+ String routeCdaKey = RouteGenerator.generateRouteCdaKey(new int[]{currentNode.getX(), currentNode.getY()}, new int[]{nextNode.getX(), nextNode.getY()});
+ if (!mapDataDispatcher.validRouteCdaKey(routeCdaKey)) {
+ return null;
}
return nextNode;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
index 46501c0..f26ba52 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
+++ b/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()) {
// 鍙栦紭鍏堥槦鍒楅《閮ㄥ厓绱犲苟涓旀妸杩欎釜鍏冪礌浠嶰pen琛ㄤ腑鍒犻櫎锛屽彇F鍊兼渶灏忕殑鑺傜偣
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 @@
// 鑾峰彇鍥涘懆鑺傜偣
private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
- //鑾峰彇褰撳墠缁撶偣鐨剎, y
int x = currentNode.getX();
int y = currentNode.getY();
- //濡傛灉褰撳墠缁撶偣鐨勯偦缁撶偣鍚堟硶锛屽氨鍔犲叆鍒皀eighbour_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;
- }
-
- // 鑺傜偣鏄惁鍙敤
- 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);
-
- // 鍒ゆ柇閫氳繃鎬�
- 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;
+ }
+
+ // 鍒ゆ柇閫氳繃鎬�
+ 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*鍚彂鍑芥暟------------------//
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 62dc062..20fedf8 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
@@ -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);
}
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/RouteGenerator.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/RouteGenerator.java
index 7bf09fb..44db739 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/utils/RouteGenerator.java
+++ b/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<>();
--
Gitblit v1.9.1