From 89c7f6e5bcc21b0e8f83a2bc6d680e2ffe431e6f Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 13 一月 2025 09:38:29 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 330 +++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 227 insertions(+), 103 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index 25a3aa7..4ad4904 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -1,11 +1,13 @@
package com.zy.acs.manager.core.service;
-import com.alibaba.fastjson.JSONObject;
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.domain.type.BlockSeverityType;
+import com.zy.acs.manager.core.constant.MapDataConstant;
+import com.zy.acs.manager.core.domain.SortCodeDto;
+import com.zy.acs.manager.core.domain.UnlockPathTask;
import com.zy.acs.manager.core.service.astart.*;
+import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.entity.Code;
@@ -15,12 +17,16 @@
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
-import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
import java.util.*;
+import java.util.concurrent.ConcurrentLinkedQueue;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
+import java.util.stream.IntStream;
/**
* Created by vincent on 2023/6/14
@@ -29,6 +35,8 @@
@Component("mapService")
public class MapService {
+ @Value("${floyd.enable}")
+ private Boolean floydEnable;
@Autowired
private CodeService codeService;
@Autowired
@@ -41,50 +49,54 @@
private ConfigService configService;
@Autowired
private ActionService actionService;
+ @Autowired
+ private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;
/**
* 瀵诲潃 ===>> A Star
*/
public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
- , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {
+ , Boolean lock, List<String> blackList, Segment segment) {
int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
- NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
- NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
+ AStarNavigateNode startNode = new AStarNavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
+ AStarNavigateNode endNode = new AStarNavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
- NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment, blockSeverity);
-
+// long startTime = System.currentTimeMillis();
+ AStarNavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
+// System.out.println("A Star Spend time :" + (System.currentTimeMillis() - startTime));
if (null == finishNode) {
- log.warn("{} 鍙稟GV妫�绱{}] ===>> [{}]璺緞澶辫触......", agvNo, startCode.getData(), endCode.getData());
return new ArrayList<>();
}
- ArrayList<NavigateNode> navigateNodes = new ArrayList<>();
+ ArrayList<AStarNavigateNode> navigateNodes = new ArrayList<>();
- // 娓叉煋
- NavigateNode parentNode = null; // 褰撳墠寰幆涓婁竴鑺傜偣锛岀敤浜庢嫄鐐硅绠�
while (finishNode != null) {
navigateNodes.add(finishNode);
-
- parentNode = finishNode;
finishNode = finishNode.getParent();
}
Collections.reverse(navigateNodes);
-// for (NavigateNode navigateNode : navigateNodes) {
-// navigateNode.setParent(null);
-// }
+ List<String> navigatePath = navigateNodes.stream().map(AStarNavigateNode::getCodeData).collect(Collectors.toList());
- return navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
+ // max count of steps
+ if (navigatePath.size() > MapDataConstant.MAX_STEPS_SINGLE) {
+ navigatePath = navigatePath.subList(0, MapDataConstant.MAX_STEPS_SINGLE);
+ }
+
+ return navigatePath;
}
/**
* 瀵诲潃 ===>> Floyd
*/
public synchronized List<String> validFeasibility(Code startCode, Code endCode) {
+ if (!floydEnable) {
+ return Arrays.asList("00000001", "00000002", "00000003", "00000004", "00000005", "00000006");
+ }
int startIdx = floydNavigateService.codeIdx(startCode.getId());
int endIdx = floydNavigateService.codeIdx(endCode.getId());
@@ -112,7 +124,7 @@
// 瑙掑害璁＄畻
- public Double calculateDirection(Code startCode, Code endCode) {
+ public Double calculateDirection(Code startCode, Code endCode, int angleOffsetVal) {
Double x0 = startCode.getX();
Double y0 = startCode.getY();
@@ -122,7 +134,6 @@
double deltaX = x1 - x0;
double deltaY = y1 - y0;
double angle = -Math.atan2(deltaX, deltaY);
- int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
angle = Math.toDegrees(angle) + angleOffsetVal;
angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
@@ -130,8 +141,7 @@
}
// 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirection(JSONObject storeDirection, Loc loc, Code code) {
- storeDirection.getString("key");
+ public AgvDirectionType calculateAgvWorkDirection(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
AgvDirectionType agvDirectionType = null;
if (compDirect == 0) {
@@ -167,56 +177,16 @@
}
public void lockPath(Integer lev, List<String> pathList, String agvNo) {
- mapDataDispatcher.modifyDynamicMatrix(lev, pathList, agvNo);
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, pathList);
+ mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo);
}
- public synchronized void unlockPath(String agvNo, String codeData) {
+ public void unlockPath(String agvNo, String codeData) {
try {
- StopWatch stopWatch = new StopWatch();
- stopWatch.start();
-
- if (Cools.isEmpty(agvNo, codeData)) {
- return;
- }
-
- Integer lev = null;
-
- String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
- int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, codeData);
-
-
- DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
-
- DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
-
-
- Integer serial = dynamicNode.getSerial();
-
- List<String> resetCodeList = new ArrayList<>();
-
- for (int i = 0; i < dynamicMatrix.length; i++) {
- for (int j = 0; j < dynamicMatrix[i].length; j++) {
- DynamicNode node = dynamicMatrix[i][j];
- if (node.getVehicle().equals(agvNo) && node.getSerial() < serial) {
- resetCodeList.add(codeMatrix[i][j]);
- }
- }
- }
-
- if (!Cools.isEmpty(resetCodeList)) {
-
- mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeList);
- }
-
- stopWatch.stop();
- if (stopWatch.getTime() > 50) {
- log.info("瑙ｉ攣璺緞鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", stopWatch.getTime());
- }
-
- } catch (Exception e) {
- log.error("TrafficService.unlockPath", e);
+ unlockTaskQueue.offer(new UnlockPathTask(agvNo, codeData), 5, TimeUnit.SECONDS);
+ } catch (InterruptedException e) {
+ log.error("unlockTaskQueue", e);
}
-
}
public List<String> getWaveScopeByCodeList(Integer lev, List<String> codeList, Double radiusLen) {
@@ -237,38 +207,40 @@
return nodeList.stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
}
+ // v1 BFS ------------------------------------------------------------------------------
public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, Double radiusLen) {
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+ String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
List<NavigateNode> includeList = new ArrayList<>();
- List<NavigateNode> existNodes = new ArrayList<>();
+ Set<NavigateNode> existNodes = new HashSet<>();
includeList.add(originNode);
existNodes.add(originNode);
- this.spreadWaveNode(originNode, originNode, codeMatrix, radiusLen, includeList, existNodes);
+ this.spreadWaveNode(originNode, originNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
return includeList;
}
public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
- , String[][] codeMatrix, Double radiusLen
- , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
+ , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
+ , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = currNode.getX();
int y = currNode.getY();
- this.extendNeighborNodes(originNode, new NavigateNode(x, y + 1), codeMatrix, radiusLen, includeList, existNodes);
- this.extendNeighborNodes(originNode, new NavigateNode(x, y - 1), codeMatrix, radiusLen, includeList, existNodes);
- this.extendNeighborNodes(originNode, new NavigateNode(x - 1, y), codeMatrix, radiusLen, includeList, existNodes);
- this.extendNeighborNodes(originNode, new NavigateNode(x + 1, y), codeMatrix, radiusLen, includeList, existNodes);
+ this.extendNeighborNodes(originNode, new NavigateNode(x, y + 1), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
+ this.extendNeighborNodes(originNode, new NavigateNode(x, y - 1), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
+ this.extendNeighborNodes(originNode, new NavigateNode(x - 1, y), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
+ this.extendNeighborNodes(originNode, new NavigateNode(x + 1, y), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
}
public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode
- , String[][] codeMatrix, Double radiusLen
- , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
+ , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
+ , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = nextNode.getX();
int y = nextNode.getY();
@@ -278,54 +250,107 @@
return;
}
- if (this.isExist(nextNode, existNodes)) {
+ if (existNodes.contains(nextNode)) {
return;
}
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)) {
+ nextNode.setCodeData(codeMatrix[x][y]);
+
+ if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
+ includeList.add(nextNode);
+ }
+
+ this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
+ }
+
+ }
+
+ // 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.spreadWaveNode(originNode, nextNode, codeMatrix, radiusLen, includeList, existNodes);
-
+ this.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
} else {
-
Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
-// Code o1 = codeService.selectByData(originNode.getCodeData());
-// Code o2 = codeService.selectByData(nextNodeCodeData);
+ // 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()]);
-// if (Math.pow(o1.getX() - o2.getX(), 2) + Math.pow(o1.getY() - o2.getY(), 2) <= Math.pow(radiusLen, 2)) {
+ // 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);
- this.spreadWaveNode(originNode, nextNode, codeMatrix, radiusLen, includeList, existNodes);
-
+ // Add the node to the queue to expand its neighbors
+ queue.offer(nextNode);
}
}
}
- private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) {
- for (NavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
- }
-
- private boolean isSame(NavigateNode o1, NavigateNode o2) {
- if (Cools.isEmpty(o1, o2)) {
- return false;
- }
- return o1.getX() == o2.getX() && o1.getY() == o2.getY();
- }
public Boolean isTurnCorner(String codeData) {
if (Cools.isEmpty(codeData)) {
@@ -340,4 +365,103 @@
return turnMatrixNode == TurnNodeType.TURN.val;
}
+ /**
+ * That vehicle is walking if the dynamic node count > 1
+ */
+ @SuppressWarnings("all")
+ public boolean isWalkingByVehicle(Integer lev, String vehicle) {
+ if (Cools.isEmpty(vehicle)) {
+ return false;
+ }
+
+ lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+
+ int count = 0;
+ for (int i = 0; i < dynamicMatrix.length; i++) {
+ for (int j = 0; j < dynamicMatrix[i].length; j++) {
+ if (vehicle.equals(dynamicMatrix[i][j].getVehicle())) {
+ count++;
+ if (count > 1) {
+ return true;
+ }
+ }
+ }
+ }
+
+ return false;
+ }
+
+ public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
+ if (Cools.isEmpty(nodeType)) {
+ return new ArrayList<>();
+ }
+ lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
+
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+ String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+
+ // concurrent
+ ConcurrentLinkedQueue<SortCodeDto> codeList = new ConcurrentLinkedQueue<>();
+ IntStream.range(0, codeMatrix.length).parallel().forEach(i -> {
+ for (int j = 0; j < codeMatrix[i].length; j++) {
+ DynamicNode dynamicNode = dynamicMatrix[i][j];
+ if (nodeType.equals(dynamicNode.getVehicle())) {
+ codeList.add(new SortCodeDto(codeMatrix[i][j], dynamicNode.getSerial()));
+ }
+ }
+ });
+
+ // synchronize
+// List<SortCodeDto> codeList = new ArrayList<>();
+// for (int i = 0; i < codeMatrix.length; i++) {
+// for (int j = 0; j < codeMatrix[i].length; j++) {
+// DynamicNode dynamicNode = dynamicMatrix[i][j];
+// if (nodeType.equals(dynamicNode.getVehicle())) {
+// codeList.add(new SortCodeDto(codeMatrix[i][j], dynamicNode.getSerial()));
+// }
+// }
+// }
+
+ return codeList.stream()
+ .sorted(Comparator.comparingInt(SortCodeDto::getSerial))
+ .map(SortCodeDto::getCode)
+ .collect(Collectors.toList());
+ }
+
+ public Map<String, List<String>> queryCodeListFromDynamicNode(Integer lev, Set<String> vehicles) {
+ if (Cools.isEmpty(vehicles)) {
+ return new HashMap<>();
+ }
+ lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
+
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+ String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+
+ Map<String, List<SortCodeDto>> map = new HashMap<>(vehicles.size());
+
+ for (int i = 0; i < codeMatrix.length; i++) {
+ for (int j = 0; j < codeMatrix[i].length; j++) {
+ DynamicNode dynamicNode = dynamicMatrix[i][j];
+ String vehicle = dynamicNode.getVehicle();
+
+ if (vehicles.contains(vehicle)) {
+ int serial = dynamicNode.getSerial();
+ map.computeIfAbsent(vehicle, k -> new ArrayList<>()).add(new SortCodeDto(codeMatrix[i][j], serial));
+ }
+ }
+ }
+
+ Map<String, List<String>> result = new HashMap<>(vehicles.size());
+ for (Map.Entry<String, List<SortCodeDto>> entry : map.entrySet()) {
+ List<String> codeDataList = entry.getValue().stream()
+ .sorted(Comparator.comparingInt(SortCodeDto::getSerial))
+ .map(SortCodeDto::getCode)
+ .collect(Collectors.toList());
+ result.put(entry.getKey(), codeDataList);
+ }
+
+ return result;
+ }
+
}
--
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