From fd6d26f8ffe6a37533e741337f3eca9134d934c7 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 15 一月 2025 10:42:59 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 78 +++++++++------------------------------
1 files changed, 18 insertions(+), 60 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 8171712..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
@@ -6,7 +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.core.domain.SortCodeDto;
+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;
@@ -17,9 +17,6 @@
import lombok.extern.slf4j.Slf4j;
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
@@ -40,7 +37,7 @@
private int[][] turnMatrix;
- private String[][] cdaMatrix;
+ private Double[][][] cdaMatrix;
public Map<String, Boolean> routeCdaMap = new HashMap<>();
@@ -93,13 +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
@@ -114,9 +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) {
@@ -255,7 +253,7 @@
cdaArr.add(yIdxList.get(i));
cdaMatrix[i][j] = JSON.toJSONString(cdaArr);
} else {
- Code currCode = codeService.selectByData(codeMatrix[i][j]);
+ Code currCode = codeService.getCacheByData(codeMatrix[i][j]);
if (null != currCode) {
List<Double> cdaArr = new ArrayList<>();
cdaArr.add(currCode.getX());
@@ -284,7 +282,7 @@
if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
turnMatrix[i][j] = TurnNodeType.NONE.val;
} else {
- Code currCode = codeService.selectByData(codeMatrix[i][j]);
+ Code currCode = codeService.getCacheByData(codeMatrix[i][j]);
List<String> neighborCodeList = routeService.findCodeDataOfSingle(currCode.getId());
switch (neighborCodeList.size()) {
@@ -368,9 +366,9 @@
return;
}
for (Route route : routeList) {
- Code startCode = codeService.getById(route.getStartCode());
+ Code startCode = codeService.getCacheById(route.getStartCode());
int[] startCodeIdx = getCodeMatrixIdx(lev, startCode.getData());
- Code endCode = codeService.getById(route.getEndCode());
+ Code endCode = codeService.getCacheById(route.getEndCode());
int[] codeMatrixIdx = getCodeMatrixIdx(lev, endCode.getData());
String routeKey = RouteGenerator.generateRouteKey(startCode.getData(), endCode.getData());
@@ -483,50 +481,11 @@
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);
-
- DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);
- String[][] codeMatrix = this.getCodeMatrix(lev);
-
- 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<int[]> codeIdxList, String vehicle) {
+ this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false);
}
- 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) {
+ public synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset) {
if (Cools.isEmpty(vehicle)) {
return;
}
@@ -536,8 +495,7 @@
if (!reset) {
// long time = System.currentTimeMillis() / 1000;
int serial = 1;
- for (String codeData : codeDataList) {
- int[] codeMatrixIdx = getCodeMatrixIdx(lev, codeData);
+ for (int[] codeMatrixIdx : codeIdxList) {
dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial);
serial++;
}
@@ -555,8 +513,8 @@
setDynamicMatrix(lev, dynamicMatrix);
}
- public void clearDynamicMatrixByCodeList(Integer lev, List<String> codeDataList) {
- this.modifyDynamicMatrix(lev, codeDataList, DynamicNodeType.ACCESS.val);
+ public void clearDynamicMatrixByCodeList(Integer lev, List<int[]> codeIdxList) {
+ this.modifyDynamicMatrix(lev, codeIdxList, DynamicNodeType.ACCESS.val);
}
public int[][] filterMapData(int[][] mapMatrix, Integer lev, List<String> lockNodes) {
--
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