From e7cc0981a18fa322642dadddf7043623c83d676f Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 07 一月 2025 14:43:35 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 147 +++++++++++--------------------------------------
1 files changed, 33 insertions(+), 114 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 dbda04c..976c8e0 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
@@ -5,8 +5,9 @@
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.UnlockPathTask;
import com.zy.acs.manager.core.service.astart.*;
-import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
+import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Loc;
@@ -15,12 +16,13 @@
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.LinkedBlockingQueue;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
/**
@@ -44,6 +46,8 @@
private ConfigService configService;
@Autowired
private ActionService actionService;
+ @Autowired
+ private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;
/**
* 瀵诲潃 ===>> A Star
@@ -54,34 +58,26 @@
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);
-
+// 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(NavigateNode::getCodeData).collect(Collectors.toList());
+ List<String> navigatePath = navigateNodes.stream().map(AStarNavigateNode::getCodeData).collect(Collectors.toList());
// max count of steps
if (navigatePath.size() > MapDataConstant.MAX_STEPS_SINGLE) {
@@ -180,62 +176,16 @@
}
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();
- long time = dynamicNode.getTime();
-
- List<String> resetCodeList = new ArrayList<>();
-
- for (int i = 0; i < dynamicMatrix.length; i++) {
- for (int j = 0; j < dynamicMatrix[i].length; j++) {
-
- if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
-
- DynamicNode node = dynamicMatrix[i][j];
- if (node.getVehicle().equals(agvNo)) {
- if (node.getSerial() < serial || node.getTime() != time) {
- 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("MapService.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) {
@@ -265,7 +215,7 @@
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);
@@ -277,7 +227,7 @@
public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
, String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
- , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
+ , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = currNode.getX();
int y = currNode.getY();
@@ -289,7 +239,7 @@
public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode
, String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
- , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
+ , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = nextNode.getX();
int y = nextNode.getY();
@@ -299,48 +249,26 @@
return;
}
- if (this.isExist(nextNode, existNodes)) {
+ if (existNodes.contains(nextNode)) {
return;
}
existNodes.add(nextNode);
- String nextNodeCodeData = codeMatrix[x][y];
- if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
+ 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);
-
- } else {
-
- 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)) {
- 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, cdaMatrix, radiusLen, includeList, existNodes);
-
- }
}
- }
- 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();
}
// v2 BFS ------------------------------------------------------------------------------
@@ -392,7 +320,7 @@
}
// If the node has already been visited, skip it
- if (this.isExist0(nextNode, visited)) {
+ if (visited.contains(nextNode)) {
return;
}
@@ -420,15 +348,6 @@
queue.offer(nextNode);
}
}
- }
-
- private boolean isExist0(NavigateNode node, Set<NavigateNode> existNodes) {
- for (NavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
}
--
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