From aaa515911eef34e2263ce8baa6f860025fd6060d Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 14 一月 2025 11:21:02 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 14 ++-
zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java | 16 ++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 8 +
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 169 ++++++++++++++++++++---------------------
4 files changed, 112 insertions(+), 95 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
index 41ea3f3..b7c7104 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
@@ -10,6 +10,22 @@
*/
public class MapDataUtils {
+ public static Double[][][] preComputeCdaMatrix(String[][] cdaStrMatrix) {
+ int rows = cdaStrMatrix.length;
+ int cols = cdaStrMatrix[0].length;
+
+ Double[][][] cdaMatrix = new Double[rows][cols][2];
+ for (int i = 0; i < rows; i++) {
+ for (int j = 0; j < cols; j++) {
+ List<Double> cda = MapDataUtils.parseCdaNode(cdaStrMatrix[i][j]);
+ cdaMatrix[i][j][0] = cda.get(0);
+ cdaMatrix[i][j][1] = cda.get(1);
+ }
+ }
+
+ return cdaMatrix;
+ }
+
public static List<String> parseWaveNode(String waveNodeStr) {
List<String> waveNodeList = new ArrayList<>();
if (Cools.isEmpty(waveNodeStr)) {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
index 08e7042..9fcf125 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
@@ -179,6 +179,7 @@
}
private boolean calcWaveScopeByJava(Integer lev) throws Exception {
+
AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()); // can be optimized
Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
@@ -187,15 +188,16 @@
String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
// lock path
+ long time = 0;
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
for (int i = 0; i < dynamicMatrix.length; i++) {
for (int j = 0; j < dynamicMatrix[i].length; j++) {
DynamicNode dynamicNode = dynamicMatrix[i][j];
String vehicle = dynamicNode.getVehicle();
if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
-
+ long startTime = System.currentTimeMillis();
List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
-
+ time += System.currentTimeMillis() - startTime;
for (NavigateNode navigateNode : includeList) {
String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
@@ -206,7 +208,7 @@
// mapDataDispatcher.printMatrix(waveMatrix);
mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
-
+ System.out.println("calcWaveScopeByJava " + time);
return true;
}
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 faa379e..2d71496 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
@@ -2,7 +2,6 @@
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.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
@@ -212,7 +211,7 @@
// v1 BFS ------------------------------------------------------------------------------
public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, Double radiusLen) {
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
- String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
+ Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
@@ -229,7 +228,7 @@
}
public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
- , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
+ , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLen
, List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = currNode.getX();
int y = currNode.getY();
@@ -241,7 +240,7 @@
}
public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode
- , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
+ , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLen
, List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = nextNode.getX();
@@ -258,11 +257,9 @@
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)) {
+ Double[] o1Cda = cdaMatrix[originNode.getX()][originNode.getY()];
+ Double[] o2Cda = cdaMatrix[x][y];
+ if (Math.pow(o1Cda[0] - o2Cda[0], 2) + Math.pow(o1Cda[1] - o2Cda[1], 2) <= Math.pow(radiusLen, 2)) {
nextNode.setCodeData(codeMatrix[x][y]);
if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
@@ -275,83 +272,83 @@
}
// 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.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
- } else {
- Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
- String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
-
- // 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()]);
-
- // 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);
-
- // Add the node to the queue to expand its neighbors
- queue.offer(nextNode);
- }
- }
- }
+// 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.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
+// } else {
+// Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
+// String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
+//
+// // 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()]);
+//
+// // 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);
+//
+// // Add the node to the queue to expand its neighbors
+// queue.offer(nextNode);
+// }
+// }
+// }
public Boolean isTurnCorner(String codeData) {
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 72b5182..04be5ac 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
@@ -6,6 +6,7 @@
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.common.utils.MapDataUtils;
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;
@@ -36,7 +37,7 @@
private int[][] turnMatrix;
- private String[][] cdaMatrix;
+ private Double[][][] cdaMatrix;
public Map<String, Boolean> routeCdaMap = new HashMap<>();
@@ -89,13 +90,14 @@
redis.setValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(lev), JSON.toJSONString(dynamicMatrix));
}
- public String[][] getCdaMatrix(Integer lev) {
+ public Double[][][] getCdaMatrix(Integer lev) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
// redis
if (null == this.cdaMatrix) {
String cdaMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev));
if (!Cools.isEmpty(cdaMatrixStr)) {
- this.cdaMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
+ String[][] cdaStrMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
+ this.cdaMatrix = MapDataUtils.preComputeCdaMatrix(cdaStrMatrix);
}
}
// init
@@ -110,9 +112,9 @@
return this.cdaMatrix;
}
- public void setCdaMatrix(Integer lev, String[][] cdaMatrix) {
- redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaMatrix));
- this.cdaMatrix = cdaMatrix;
+ public void setCdaMatrix(Integer lev, String[][] cdaStrMatrix) {
+ redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaStrMatrix));
+ this.cdaMatrix = MapDataUtils.preComputeCdaMatrix(cdaStrMatrix);
}
public int[][] getTurnMatrix(Integer lev) {
--
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