From b9eef68cc85d30b892a1cd50829341d3dae743b9 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 06 一月 2025 13:00:47 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 333 +++++++++++++++++++++++++++++++------------------------
1 files changed, 189 insertions(+), 144 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 1f21be5..8171712 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
@@ -8,16 +8,18 @@
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
@@ -29,21 +31,18 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- public static final Boolean CACHE_CODE_MATRIX = Boolean.TRUE;
+ List<Double> xIdxList;
+ List<Double> yIdxList;
private String[][] codeMatrix;
- public static final Boolean CACHE_MAP_MATRIX = Boolean.FALSE;
-
private int[][] mapMatrix;
-
- public static final Boolean CACHE_TURN_MATRIX = Boolean.TRUE;
private int[][] turnMatrix;
- public static final Boolean CACHE_CDA_MATRIX = Boolean.TRUE;
-
private String[][] cdaMatrix;
+
+ public Map<String, Boolean> routeCdaMap = new HashMap<>();
private final CodeService codeService;
@@ -96,142 +95,109 @@
public String[][] getCdaMatrix(Integer lev) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
- String[][] cdaMatrix;
-
- if (!CACHE_CDA_MATRIX) {
- if (null == this.cdaMatrix) {
- cdaMatrix = this.initCdaMatrix(lev);
- setCdaMatrix(lev, cdaMatrix);
- } else {
- cdaMatrix = this.cdaMatrix;
- }
- } else {
+ // redis
+ if (null == this.cdaMatrix) {
String cdaMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev));
- if (Cools.isEmpty(cdaMatrixStr)) {
- cdaMatrix = this.initCdaMatrix(lev);
- setCdaMatrix(lev, cdaMatrix);
- } else {
- cdaMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
+ if (!Cools.isEmpty(cdaMatrixStr)) {
+ this.cdaMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
}
}
- if (null == cdaMatrix) {
+ // init
+ if (null == this.cdaMatrix) {
+ String[][] initCdaMatrix = this.initCdaMatrix(lev);
+ setCdaMatrix(lev, initCdaMatrix);
+ }
+ // valid
+ if (null == this.cdaMatrix) {
throw new CoolException("the floor " + lev + " cannot found cda matrix !!!");
}
- return cdaMatrix;
+ return this.cdaMatrix;
}
public void setCdaMatrix(Integer lev, String[][] cdaMatrix) {
- if (!CACHE_CDA_MATRIX) {
- this.cdaMatrix = cdaMatrix;
- } else {
- redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaMatrix));
- }
+ redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaMatrix));
+ this.cdaMatrix = cdaMatrix;
}
public int[][] getTurnMatrix(Integer lev) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
- int[][] turnMatrix;
- if (!CACHE_TURN_MATRIX) {
- if (null == this.turnMatrix) {
- turnMatrix = this.initTurnMatrix(lev);
- setTurnMatrix(lev, turnMatrix);
- } else {
- turnMatrix = this.turnMatrix;
- }
- } else {
+ // redis
+ if (null == this.turnMatrix) {
String turnMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev));
- if (Cools.isEmpty(turnMatrixStr)) {
- turnMatrix = this.initTurnMatrix(lev);
- setTurnMatrix(lev, turnMatrix);
- } else {
- turnMatrix = JSON.parseObject(turnMatrixStr, int[][].class);
+ if (!Cools.isEmpty(turnMatrixStr)) {
+ this.turnMatrix = JSON.parseObject(turnMatrixStr, int[][].class);
}
}
- if (null == turnMatrix) {
+ // init
+ if (null == this.turnMatrix) {
+ int[][] initTurnMatrix = this.initTurnMatrix(lev);
+ setTurnMatrix(lev, initTurnMatrix);
+ }
+ // valid
+ if (null == this.turnMatrix) {
throw new CoolException("the floor " + lev + " cannot found turn matrix !!!");
}
- return turnMatrix;
+ return this.turnMatrix;
}
public void setTurnMatrix(Integer lev, int[][] turnMatrix) {
- if (!CACHE_TURN_MATRIX) {
- this.turnMatrix = turnMatrix;
- } else {
- redis.setValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev), JSON.toJSONString(turnMatrix));
- }
+ redis.setValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev), JSON.toJSONString(turnMatrix));
+ this.turnMatrix = turnMatrix;
}
public int[][] getMapMatrix(Integer lev, List<String> lockNodes) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
- int[][] mapMatrix;
- if (!CACHE_MAP_MATRIX) {
- if (null == this.mapMatrix) {
- mapMatrix = this.initMapMatrix(lev);
- setMapMatrix(lev, mapMatrix);
- } else {
- mapMatrix = this.mapMatrix;
- }
- } else {
+ // redis
+ if (null == this.mapMatrix) {
String mapMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev));
- if (Cools.isEmpty(mapMatrixStr)) {
- mapMatrix = this.initMapMatrix(lev);
- setMapMatrix(lev, mapMatrix);
- } else {
- mapMatrix = JSON.parseObject(mapMatrixStr, int[][].class);
+ if (!Cools.isEmpty(mapMatrixStr)) {
+ this.mapMatrix = JSON.parseObject(mapMatrixStr, int[][].class);
}
}
- if (null == mapMatrix) {
+ // init
+ if (null == this.mapMatrix) {
+ int[][] initMapMatrix = this.initMapMatrix(lev);
+ setMapMatrix(lev, initMapMatrix);
+ }
+ // valid
+ if (null == this.mapMatrix) {
throw new CoolException("the floor " + lev + " cannot found map matrix !!!");
}
- if (!Cools.isEmpty(lockNodes)) {
- mapMatrix = filterMapData(mapMatrix, lev, lockNodes);
- }
- return mapMatrix;
+ return this.mapMatrix;
}
public void setMapMatrix(Integer lev, int[][] mapMatrix) {
- if (!CACHE_MAP_MATRIX) {
- this.mapMatrix = mapMatrix;
- } else {
- redis.setValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev), JSON.toJSONString(mapMatrix));
- }
+ redis.setValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev), JSON.toJSONString(mapMatrix));
+ this.mapMatrix = mapMatrix;
}
public String[][] getCodeMatrix(Integer lev) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
- String[][] codeMatrix;
- if (!CACHE_CODE_MATRIX) {
- if (null == this.codeMatrix) {
- codeMatrix = this.initCodeMatrix(lev);
- setCodeMatrix(lev, codeMatrix);
- } else {
- codeMatrix = this.codeMatrix;
- }
- } else {
+ // redis
+ if (null == this.codeMatrix) {
String codeMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev));
- if (Cools.isEmpty(codeMatrixStr)) {
- codeMatrix = this.initCodeMatrix(lev);
- setCodeMatrix(lev, codeMatrix);
- } else {
- codeMatrix = JSON.parseObject(codeMatrixStr, String[][].class);
+ if (!Cools.isEmpty(codeMatrixStr)) {
+ this.codeMatrix = JSON.parseObject(codeMatrixStr, String[][].class);
}
}
- if (null == codeMatrix) {
+ // init
+ if (null == this.codeMatrix) {
+ String[][] initCodeMatrix = this.initCodeMatrix(lev);
+ setCodeMatrix(lev, initCodeMatrix);
+ }
+ // valid
+ if (null == this.codeMatrix) {
throw new CoolException("the floor " + lev + " cannot found code matrix !!!");
}
- return codeMatrix;
+ return this.codeMatrix;
}
public void setCodeMatrix(Integer lev, String[][] codeMatrix) {
- if (!CACHE_CODE_MATRIX) {
- this.codeMatrix = codeMatrix;
- } else {
- redis.setValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev), JSON.toJSONString(codeMatrix));
- }
+ redis.setValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev), JSON.toJSONString(codeMatrix));
+ this.codeMatrix = codeMatrix;
}
public String[][] initWaveMatrix(Integer lev) {
- log.info("There is initializing Wave Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -274,13 +240,20 @@
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) {
@@ -370,6 +343,51 @@
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);
@@ -378,13 +396,9 @@
.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();
@@ -402,24 +416,9 @@
// [][] 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();
}
@@ -454,49 +453,95 @@
return null;
}
+ public List<int[]> getCodeMatrixIdxList(Integer lev, List<String> codeDataList) {
+ if (Cools.isEmpty(codeDataList)) {
+ return new ArrayList<>();
+ }
+ lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
+ String[][] codeMatrix = this.getCodeMatrix(lev);
+
+ List<int[]> codeMatrixIdxList = new ArrayList<>();
+
+ Map<String, int[]> map = new HashMap<>();
+ Set<String> codeDataSet = new HashSet<>(codeDataList);
+
+ for (int i = 0; i < codeMatrix.length; i++) {
+ for (int j = 0; j < codeMatrix[i].length; j++) {
+ String codeData = codeMatrix[i][j];
+ if (codeDataSet.contains(codeData)) {
+ map.put(codeData, new int[]{i, j});
+ }
+ }
+ }
+
+ for (String codeData : codeDataList) {
+ int[] codeMatrixIdx = map.get(codeData);
+ if (codeMatrixIdx != null) {
+ codeMatrixIdxList.add(codeMatrixIdx);
+ }
+ }
+ return codeMatrixIdxList;
+ }
+
public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
if (Cools.isEmpty(nodeType)) {
return new ArrayList<>();
}
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()));
}
}
+ });
+
+ 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> codeDataList, String vehicle) {
+ this.modifyDynamicMatrix(lev, codeDataList, vehicle, false);
+ }
+
+ public synchronized void modifyDynamicMatrix(Integer lev, List<String> codeDataList, String vehicle, boolean reset) {
+ if (Cools.isEmpty(vehicle)) {
+ return;
}
- 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) {
- this.modifyDynamicMatrix(lev, codeList, vehicle, false);
- }
-
- public synchronized void modifyDynamicMatrix(Integer lev, List<String> codeList, String vehicle, boolean reset) {
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);
if (!reset) {
- if (Cools.isEmpty(codeList, vehicle)) {
- return;
- }
+// 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);
+ for (String codeData : codeDataList) {
+ int[] codeMatrixIdx = getCodeMatrixIdx(lev, codeData);
+ dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial);
serial++;
}
} else {
- if (Cools.isEmpty(vehicle)) {
- return;
- }
for (int i = 0; i < dynamicMatrix.length; i++) {
for (int j = 0; j < dynamicMatrix[i].length; j++) {
DynamicNode dynamicNode = dynamicMatrix[i][j];
@@ -510,8 +555,8 @@
setDynamicMatrix(lev, dynamicMatrix);
}
- public void clearDynamicMatrixByCodeList(Integer lev, List<String> codeList) {
- this.modifyDynamicMatrix(lev, codeList, DynamicNodeType.ACCESS.val);
+ public void clearDynamicMatrixByCodeList(Integer lev, List<String> codeDataList) {
+ this.modifyDynamicMatrix(lev, codeDataList, DynamicNodeType.ACCESS.val);
}
public int[][] filterMapData(int[][] mapMatrix, Integer lev, List<String> lockNodes) {
--
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