From 7c4d3d957c431aad12f90511770e2fe429bcd380 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 24 十二月 2024 16:38:25 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 118 ++++++++++++++++++++++++++++-------------------------------
1 files changed, 56 insertions(+), 62 deletions(-)
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 a7b7cc9..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
@@ -1,5 +1,7 @@
package com.zy.acs.manager.core.service;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
@@ -8,12 +10,13 @@
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.service.astart.*;
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.Jam;
import com.zy.acs.manager.manager.entity.Route;
-import com.zy.acs.manager.manager.service.AgvModelService;
-import com.zy.acs.manager.manager.service.AgvService;
-import com.zy.acs.manager.manager.service.CodeService;
-import com.zy.acs.manager.manager.service.RouteService;
+import com.zy.acs.manager.manager.entity.Segment;
+import com.zy.acs.manager.manager.enums.JamStateType;
+import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -49,6 +52,10 @@
private LaneService laneService;
@Autowired
private ConfigService configService;
+ @Autowired
+ private SegmentService segmentService;
+ @Autowired
+ private JamService jamService;
/**
* avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -68,6 +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);
@@ -75,19 +83,19 @@
RetreatNavigateNode finialNode = null;
PriorityQueue<RetreatNavigateNode> openQueue = new PriorityQueue<>();
- ArrayList<RetreatNavigateNode> existNodes = new ArrayList<>();
+ Set<RetreatNavigateNode> existNodes = new HashSet<>();
openQueue.add(start);
existNodes.add(start);
boolean phaseSecond = true;
- while (openQueue.size() > 0 && null == finialNode) {
+ while (!openQueue.isEmpty() && null == finialNode) {
RetreatNavigateNode currentNode = openQueue.poll();
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; }
@@ -105,7 +113,7 @@
continue label;
}
if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
- phaseSecond = false; // there is a way to go
+ phaseSecond = false; // there is a running way
continue label;
} else {
weight += WEIGHT_CALC_FACTOR;
@@ -139,12 +147,27 @@
}
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
- phaseSecond = false; // there is a way to go
+ phaseSecond = false; // there is a running way
continue;
}
if (lanVehicleSet.contains(sponsor)) {
weight += WEIGHT_CALC_FACTOR * 2;
}
+ }
+ }
+
+ 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());
+ for (Segment runningSeg : runningSegments) {
+ if (0 < jamService.count(new LambdaQueryWrapper<Jam>()
+ .eq(Jam::getAvoSeg, runningSeg.getId())
+ .ne(Jam::getState, JamStateType.DEPRECATED.toString()))) {
+ weight += WEIGHT_CALC_FACTOR * 3;
+ } else {
+ weight += WEIGHT_CALC_FACTOR;
}
}
@@ -184,12 +207,12 @@
int actualLanesOfTurn = 0;
int filterPointOfTurnTimes = 0;
- while (openQueue.size() > 0 && null == finialNode) {
+ while (!openQueue.isEmpty() && null == finialNode) {
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) {
@@ -296,37 +319,30 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, List<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;
}
- private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, List<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
+ private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, Set<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
RetreatNavigateNode nextNode;
if (null == dx || null == dy) {
@@ -350,43 +366,21 @@
if (mapMatrix[x][y] == MapNodeType.DISABLE.val) {
return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);
+ }
- } else {
- if (this.isExist(nextNode, existNodes)) {
- 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�
- Route route = routeService.findByCodeOfBoth(
- codeService.selectByData(currentNodeCodeData).getId(),
- codeService.selectByData(nextNodeCodeData).getId()
- );
- if (null == route) {
- 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;
- }
-
- private boolean isExist(RetreatNavigateNode node, List<RetreatNavigateNode> existNodes) {
- for (RetreatNavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
}
private boolean isSame(RetreatNavigateNode o1, RetreatNavigateNode o2) {
--
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