From 9fb7c7678174c0fea9bf7c96dca8c24b165d0a48 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 04 一月 2025 13:20:57 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 126 ++++++++++++++++++++++++++++++-----------
1 files changed, 92 insertions(+), 34 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 5411381..59c694b 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
@@ -3,21 +3,24 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.GsonUtils;
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.Comparator;
-import java.util.List;
-import java.util.Optional;
+import java.util.*;
+import java.util.concurrent.ConcurrentLinkedQueue;
import java.util.stream.Collectors;
+import java.util.stream.IntStream;
/**
* Created by vincent on 6/6/2024
@@ -29,6 +32,9 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+ List<Double> xIdxList;
+ List<Double> yIdxList;
+
private String[][] codeMatrix;
private int[][] mapMatrix;
@@ -36,6 +42,8 @@
private int[][] turnMatrix;
private String[][] cdaMatrix;
+
+ public Map<String, Boolean> routeCdaMap = new HashMap<>();
private final CodeService codeService;
@@ -191,7 +199,6 @@
}
public String[][] initWaveMatrix(Integer lev) {
- log.info("There is initializing Wave Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -234,13 +241,20 @@
log.info("There is initializing Cda Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
+ if (Cools.isEmpty(xIdxList, yIdxList)) {
+ this.initCodeMatrix(lev);
+ }
+
String[][] codeMatrix = getCodeMatrix(lev);
String[][] cdaMatrix = new String[codeMatrix.length][codeMatrix[0].length];
for (int i = 0; i < codeMatrix.length; i++) {
for (int j = 0; j < codeMatrix[i].length; j++) {
if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
- cdaMatrix[i][j] = CdaNodeType.DISABLE.val;
+ List<Double> cdaArr = new ArrayList<>();
+ cdaArr.add(xIdxList.get(j));
+ cdaArr.add(yIdxList.get(i));
+ cdaMatrix[i][j] = JSON.toJSONString(cdaArr);
} else {
Code currCode = codeService.selectByData(codeMatrix[i][j]);
if (null != currCode) {
@@ -330,6 +344,51 @@
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() && 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);
+ this.routeCdaMap.put(routeCdaKey, Boolean.TRUE);
+ }
+ }
+
public synchronized String[][] initCodeMatrix(Integer lev) {
log.info("There is initializing Code Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
@@ -338,13 +397,9 @@
.orderByAsc(Code::getY)
.orderByAsc(Code::getX)
);
-// int xCount = codeService.selectDistinctCountFromX();
-// int yCount = codeService.selectDistinctCountFromY();
-// // [][] 绗竴涓槸鎺掔殑鏁伴噺 绗簩涓槸鍒楃殑鏁伴噺
-// String[][] codeMatrix = new String[yCount][xCount];
- List<Double> xIdxList = new ArrayList<>();
- List<Double> yIdxList = new ArrayList<>();
+ xIdxList = new ArrayList<>();
+ yIdxList = new ArrayList<>();
for (Code code : codeList) {
Double x = code.getX();
Double y = code.getY();
@@ -362,24 +417,9 @@
// [][] 绗竴涓槸鎺掔殑鏁伴噺 绗簩涓槸鍒楃殑鏁伴噺
String[][] codeMatrix = new String[yIdxList.size()][xIdxList.size()];
- int idxX = -1;
- int idxY = -1;
- double lastX = -1;
- double lastY = -1;
for (Code code : codeList) {
Double x = code.getX();
Double y = code.getY();
-// if (y != lastY) {
-// idxY ++;
-// idxX = 0;
-// lastY = y;
-// lastX = x;
-// }
-// if (x != lastX) {
-// idxX++;
-// lastX = x;
-// }
-// codeMatrix[idxY][idxX] = code.getData();
codeMatrix[yIdxList.indexOf(y)][xIdxList.indexOf(x)] = code.getData();
}
@@ -420,19 +460,37 @@
}
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++) {
+
+ 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()));
}
}
- }
- codeList.sort(Comparator.comparingInt(SortCodeDto::getSerial));
- return codeList.stream().map(SortCodeDto::getCode).collect(Collectors.toList());
+ });
+
+ return codeList.stream()
+ .sorted(Comparator.comparingInt(SortCodeDto::getSerial))
+ .map(SortCodeDto::getCode)
+ .collect(Collectors.toList());
+
+// 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()));
+// }
+// }
+// }
+// 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) {
@@ -447,11 +505,11 @@
if (Cools.isEmpty(codeList, vehicle)) {
return;
}
- long time = System.currentTimeMillis() / 1000;
+// 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, time);
+ dynamicMatrix[node[0]][node[1]] = new DynamicNode(vehicle, serial);
serial++;
}
} else {
--
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