From 590a64af2cdd33427ed8eda2eb983b07dd60ab8b Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 16 一月 2026 12:05:12 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneBuilder.java | 195 ++++++++++++++++++++++++++++++++++--------------
1 files changed, 139 insertions(+), 56 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneBuilder.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneBuilder.java
index 69f3f86..7f0c2a4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneBuilder.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneBuilder.java
@@ -1,16 +1,14 @@
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.GsonUtils;
-import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
-import com.zy.acs.framework.common.SnowflakeIdWorker;
-import com.zy.acs.manager.core.domain.Lane;
+import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.entity.Code;
+import com.zy.acs.manager.manager.entity.Lane;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.service.CodeService;
+import com.zy.acs.manager.manager.service.LaneService;
import com.zy.acs.manager.manager.service.RouteService;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -32,24 +30,25 @@
@Service
public class LaneBuilder {
- private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+// private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- private List<Lane> lanes = new ArrayList<>();
+ private final List<LaneDto> laneDtoList = new ArrayList<>();
private final Map<String, List<String>> adjacencyCodeMap = new HashMap<>();
private final Map<String, List<int[]>> laneCodeIdxMap = new HashMap<>();
- private final Map<String, Lane> codeLaneMap = new HashMap<>();
+ private final Map<String, LaneDto> codeLaneMap = new HashMap<>();
private boolean initialized = Boolean.FALSE;
@Autowired
+ private LaneService laneService;
+ @Autowired
private CodeService codeService;
@Autowired
private RouteService routeService;
- @Autowired
- private SnowflakeIdWorker snowflakeIdWorker;
+
@Autowired
private ConfigService configService;
@Autowired
@@ -61,7 +60,7 @@
return this.initialized;
}
- public Lane search(String codeData) {
+ public LaneDto search(String codeData) {
if (Cools.isEmpty(codeData) || !this.initialized) {
return null;
}
@@ -91,25 +90,31 @@
@EventListener(ApplicationReadyEvent.class)
public void init() {
Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
- String laneDataStr = redis.getValue(RedisConstant.MAP_LANE_DATA, String.valueOf(lev));
- if (!Cools.isEmpty(laneDataStr)) {
- this.lanes = GsonUtils.fromJsonToList(laneDataStr, Lane.class);
- } else {
+// String laneDataStr = redis.getValue(RedisConstant.MAP_LANE_DATA, String.valueOf(lev));
+ List<Lane> lanes = laneService.list(new LambdaQueryWrapper<Lane>()
+// .eq(Lane::getZoneId, zoneId)
+ .eq(Lane::getStatus, StatusType.ENABLE.val)
+ .orderByAsc(Lane::getId)
+ );
+ if (!Cools.isEmpty(lanes)) {
+ lanes.forEach(lane -> this.laneDtoList.add(LaneDto.parse(lane)));
+// this.laneDtoList = GsonUtils.fromJsonToList(laneDataStr, LaneDto.class);
+ } else {
StopWatch stopWatch = new StopWatch();
stopWatch.start();
-
this.initLaneData();
-
stopWatch.stop();
log.info("the rcs system calculated lane data which has spend {} millisecond......", stopWatch.getTime());
- redis.setValue(RedisConstant.MAP_LANE_DATA, String.valueOf(lev), GsonUtils.toJson(this.lanes));
+ if (!Cools.isEmpty(this.laneDtoList)) {
+ laneService.batchSaveByLaneDtoList(null, this.laneDtoList);
+// redis.setValue(RedisConstant.MAP_LANE_DATA, String.valueOf(lev), GsonUtils.toJson(this.laneDtoList));
+ }
}
this.generateLaneCodeIdx(null);
this.initialized = Boolean.TRUE;
-// System.out.println(GsonUtils.toJson(this.lanes));
}
private void initLaneData() {
@@ -125,7 +130,7 @@
this.deleteInteractionPoint();
- this.filterLanesWithFewPoints();
+// this.filterLanesWithFewPoints();
this.generateLaneHash();
@@ -149,29 +154,51 @@
List<String> neighbors = this.adjacencyCodeMap.get(codeData);
for (String neighbor : neighbors) {
if (this.adjacencyCodeMap.get(neighbor).size() == 2 && !visited.contains(neighbor)) {
- Lane lane = new Lane(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- lane.getCodes().add(codeData); // 鍖呭惈璧风偣
- this.dfsCalcIncludingEnd(codeData, neighbor, lane, visited);
- this.lanes.add(lane);
+ LaneDto laneDto = new LaneDto();
+ laneDto.getCodes().add(codeData); // 鍖呭惈璧风偣
+ this.dfsCalcIncludingEnd(codeData, neighbor, laneDto, visited);
+ this.laneDtoList.add(laneDto);
}
}
}
}
for (String codeData : codeDataList) {
- if (this.adjacencyCodeMap.get(codeData).size() == 2 && !visited.contains(codeData)) {
+ if (this.adjacencyCodeMap.get(codeData).size() == 2
+ && !visited.contains(codeData)
+ && !this.isTurnCorner(codeData)) {
// 妫�鏌ユ槸鍚︿负鐜矾鐨勪竴閮ㄥ垎
- Lane lane = new Lane(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- this.dfsCalcForLoop(codeData, null, lane, visited);
- this.lanes.add(lane);
+ LaneDto laneDto = new LaneDto();
+ this.dfsCalcForLoop(codeData, null, laneDto, visited);
+ if (!Cools.isEmpty(laneDto.getCodes())) {
+ this.laneDtoList.add(laneDto);
+ }
}
}
-
+ // === 琛ワ細鏈浠讳綍 DFS 瑕嗙洊鐨勭鐐癸紙degree <= 1锛夛紝浣滀负鍗曠偣 lane ===
+ for (String codeData : codeDataList) {
+ if (visited.contains(codeData)) {
+ continue;
+ }
+ List<String> neighbors = adjacencyCodeMap.get(codeData);
+ int degree = neighbors == null ? 0 : neighbors.size();
+ if (degree <= 1) {
+ LaneDto laneDto = new LaneDto();
+ laneDto.getCodes().add(codeData);
+ laneDtoList.add(laneDto);
+ visited.add(codeData);
+ }
+ }
}
- private void dfsCalcIncludingEnd(String start, String current, Lane lane, Set<String> visited) {
- lane.getCodes().add(current);
+ private void dfsCalcIncludingEnd(String start, String current, LaneDto laneDto, Set<String> visited) {
+ // 濡傛灉 current 鏈韩鏄嫄瑙掞紙degree=2 涓斾笉鍏辩嚎锛夛紝涓嶅簲璇ヨ繘鍏� lane
+ if (this.isTurnCorner(current)) {
+ return;
+ }
+
+ laneDto.getCodes().add(current);
visited.add(current);
List<String> neighbors = this.adjacencyCodeMap.get(current);
@@ -187,20 +214,29 @@
if (!visited.contains(neighbor)) {
int degree = this.adjacencyCodeMap.get(neighbor).size();
if (degree == 2) {
+ // 涓嬩竴璺冲鏋滄槸鎷愯锛氱洿鎺ュ湪鎷愯鍓嶇粓姝紝涓斾笉鎶婃嫄瑙掔畻杩� lane
+ if (this.isTurnCorner(neighbor)) {
+ continue;
+ }
if (this.isSameDirection(current, neighbor, start)) {
- this.dfsCalcIncludingEnd(current, neighbor, lane, visited);
+ this.dfsCalcIncludingEnd(current, neighbor, laneDto, visited);
}
} else {
// 缁堢偣鎴栨嫄寮偣锛屽寘鍚苟鍋滄
- lane.getCodes().add(neighbor);
+ laneDto.getCodes().add(neighbor);
visited.add(neighbor);
}
}
}
}
- private void dfsCalcForLoop(String current, String parent, Lane lane, Set<String> visited) {
- lane.getCodes().add(current);
+ private void dfsCalcForLoop(String current, String parent, LaneDto laneDto, Set<String> visited) {
+ // 鐜矾 lane锛氭嫄瑙掔偣涓嶇畻鍏� lane锛屽苟涓斿湪鎷愯鍓嶅仠姝�
+ if (this.isTurnCorner(current)) {
+ return;
+ }
+
+ laneDto.getCodes().add(current);
visited.add(current);
List<String> neighbors = this.adjacencyCodeMap.get(current);
@@ -216,11 +252,15 @@
if (!visited.contains(neighbor)) {
int degree = this.adjacencyCodeMap.get(neighbor).size();
if (degree == 2) {
+ // 涓嬩竴璺冲鏋滄槸鎷愯锛氬湪鎷愯鍓嶇粓姝紝涓嶆妸鎷愯鍔犲叆 lane锛屼篃涓嶆爣 visited
+ if (this.isTurnCorner(neighbor)) {
+ continue;
+ }
if (this.isSameDirection(current, neighbor, parent)) {
- this.dfsCalcForLoop(current, neighbor, lane, visited);
+ this.dfsCalcForLoop(neighbor, current, laneDto, visited);
}
} else {
- lane.getCodes().add(neighbor);
+ laneDto.getCodes().add(neighbor);
visited.add(neighbor);
}
}
@@ -247,6 +287,49 @@
return angleDifference < Math.toRadians(3);
}
+ private boolean isTurnCorner(String codeData) {
+ if (Cools.isEmpty(codeData)) {
+ return false;
+ }
+ List<String> neighbors = this.adjacencyCodeMap.get(codeData);
+ if (neighbors == null || neighbors.size() != 2) {
+ return false;
+ }
+
+ String n1 = neighbors.get(0);
+ String n2 = neighbors.get(1);
+
+ Code c1 = codeService.getCacheByData(n1);
+ Code c = codeService.getCacheByData(codeData);
+ Code c2 = codeService.getCacheByData(n2);
+
+ // v1 = c - c1, v2 = c2 - c
+ double v1x = c.getX() - c1.getX();
+ double v1y = c.getY() - c1.getY();
+ double v2x = c2.getX() - c.getX();
+ double v2y = c2.getY() - c.getY();
+
+ // 涓や釜鍚戦噺浠讳竴涓洪浂鍚戦噺锛氫笉鎸夋嫄瑙掑鐞�
+ double len1 = Math.hypot(v1x, v1y);
+ double len2 = Math.hypot(v2x, v2y);
+ if (len1 == 0 || len2 == 0) {
+ return false;
+ }
+
+ // 澶硅 cos = dot / (|v1||v2|)
+ double dot = v1x * v2x + v1y * v2y;
+ double cos = dot / (len1 * len2);
+
+ // 鍏辩嚎鏈変袱绉嶏細
+ // 1) 180掳锛歝os 鈮� -1锛堢洿绾胯蛋寤婏級
+ // 2) 0掳锛歝os 鈮� +1锛堣矾绾垮紓甯稿洖澶达級锛屼竴鑸篃瑙嗕负鍏辩嚎
+ // 鍙鈥滀笉鎺ヨ繎 卤1鈥濓紝灏辫鏄庝笉鍦ㄤ竴鏉＄嚎涓� -> 鎷愯
+ double eps = Math.cos(Math.toRadians(3)); // 3搴﹀宸�
+ boolean nearOpposite = cos <= -eps; // 鎺ヨ繎 -1
+ boolean nearSame = cos >= eps; // 鎺ヨ繎 +1
+ return !(nearOpposite || nearSame);
+ }
+
/**
* 璁＄畻涓や釜鐐逛箣闂寸殑鏂瑰悜瑙�
*/
@@ -262,10 +345,10 @@
* 3.then merge above two lane because they can connect each other
*/
private void mergeDeadEndLane() {
- Iterator<Lane> iterator = this.lanes.iterator();
+ Iterator<LaneDto> iterator = this.laneDtoList.iterator();
while (iterator.hasNext()) {
- Lane lane = iterator.next();
- String[] endPoints = lane.queryEndPoints();
+ LaneDto laneDto = iterator.next();
+ String[] endPoints = laneDto.queryEndPoints();
if (null == endPoints) {
continue;
}
@@ -294,15 +377,15 @@
String anotherPoint = deadEndPoint.equals(startPoint) ? endPoint : startPoint;
List<String> anotherPointNears = this.adjacencyCodeMap.get(anotherPoint);
for (String anotherPointNear : anotherPointNears) {
- if (!lane.getCodes().contains(anotherPointNear) && this.adjacencyCodeMap.get(anotherPointNear).size() == 2) {
+ if (!laneDto.getCodes().contains(anotherPointNear) && this.adjacencyCodeMap.get(anotherPointNear).size() == 2) {
- for (Lane lane0 : new ArrayList<>(lanes)) {
- if (lane0.getCodes().contains(anotherPointNear)) {
+ for (LaneDto laneDto0 : new ArrayList<>(laneDtoList)) {
+ if (laneDto0.getCodes().contains(anotherPointNear)) {
- lane0.getCodes().addAll(lane.getCodes());
+ laneDto0.getCodes().addAll(laneDto.getCodes());
iterator.remove();
- lane0.sortUsingDfs(this.adjacencyCodeMap);
+ laneDto0.sortUsingDfs(this.adjacencyCodeMap);
}
}
@@ -315,21 +398,21 @@
}
private void deleteInteractionPoint() {
- for (Lane lane : this.lanes) {
- lane.removeInteraction(this.adjacencyCodeMap);
+ for (LaneDto laneDto : this.laneDtoList) {
+ laneDto.removeInteraction(this.adjacencyCodeMap);
}
}
private void filterLanesWithFewPoints() {
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
- this.lanes.removeIf(next -> next.getCodes().size() <= Optional.ofNullable(maxAgvCountInLane).orElse(2));
+ this.laneDtoList.removeIf(next -> next.getCodes().size() <= Optional.ofNullable(maxAgvCountInLane).orElse(2));
}
private void generateLaneHash() {
- for (Lane lane : this.lanes) {
- String hashCode = generateDigest(lane.getCodes());
- lane.setHashCode(hashCode);
+ for (LaneDto laneDto : this.laneDtoList) {
+ String hashCode = generateDigest(laneDto.getCodes());
+ laneDto.setHashCode(hashCode);
}
}
@@ -353,17 +436,17 @@
public void generateLaneCodeIdx(Integer lev) {
log.info("There is initializing Lane CodeIdxMap......");
- if (Cools.isEmpty(this.lanes)) {
+ if (Cools.isEmpty(this.laneDtoList)) {
return;
}
- for (Lane lane : this.lanes) {
+ for (LaneDto laneDto : this.laneDtoList) {
List<int[]> codeIdxList = new ArrayList<>();
- for (String code : lane.getCodes()) {
+ for (String code : laneDto.getCodes()) {
int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
codeIdxList.add(codeMatrixIdx);
this.laneCodeIdxMap.put(code, codeIdxList);
- this.codeLaneMap.put(code, lane);
+ this.codeLaneMap.put(code, laneDto);
}
}
}
-}
+}
\ No newline at end of file
--
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