From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 116 ++++++++++++++++++++-------------------------------------
1 files changed, 41 insertions(+), 75 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
index 594d12a..24bb499 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
@@ -1,19 +1,16 @@
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.RedisSupport;
import com.zy.acs.common.utils.Utils;
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.Lane;
import com.zy.acs.manager.core.service.astart.*;
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.Jam;
-import com.zy.acs.manager.manager.entity.Route;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.service.*;
@@ -23,6 +20,7 @@
import org.springframework.stereotype.Service;
import java.util.*;
+import java.util.concurrent.CopyOnWriteArrayList;
import java.util.stream.Collectors;
/**
@@ -38,8 +36,6 @@
@Autowired
private CodeService codeService;
- @Autowired
- private RouteService routeService;
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
@@ -71,10 +67,11 @@
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
List<String> blackList = Utils.singletonList(sponsor);
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
+ Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
+ String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
@@ -94,11 +91,10 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
+ List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
boolean pointOfTurn = neighborNodes.size() >= 2;
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
- Code code = codeService.selectByData(node.getCodeData());
int weight = 0;
@@ -112,7 +108,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue label;
}
- if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
phaseSecond = false; // there is a running way
continue label;
} else {
@@ -123,29 +119,26 @@
// lane
if (pointOfTurn) {
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
+ List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ if (!Cools.isEmpty(laneCodeIdxList)) {
Set<String> lanVehicleSet = new HashSet<>();
- for (String laneCodeData : lane.getCodes()) {
+ for (int[] codeMatrixIdx : laneCodeIdxList) {
// overlap with sponsor
+ String laneCodeData = codeMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
if (avoidPathList.contains(laneCodeData)) {
lanVehicleSet.add(sponsor);
}
- int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
- // scan dynamicMatrix or WaveMatrix
- DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
+ DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
String laneVehicle = laneDynamicNode.getVehicle();
assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!laneVehicle.equals(agvNo)) {
lanVehicleSet.add(laneVehicle);
-// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
}
}
}
-
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
phaseSecond = false; // there is a running way
continue;
@@ -154,7 +147,10 @@
weight += WEIGHT_CALC_FACTOR * 2;
}
}
+
}
+
+ Code code = codeService.getCacheByData(node.getCodeData());
// judge whether the node has already been marked as a retreat node?
// This is a very troublesome matter, if the node be repeatedly mark as a retreat node
@@ -210,7 +206,7 @@
RetreatNavigateNode currentNode = openQueue.poll();
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
+ List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
// 绗竴姝ワ細鑾峰彇鏈夋晥杞集鐐�
if (null == availablePointOfTurn) {
@@ -221,24 +217,20 @@
for (RetreatNavigateNode node : neighborNodes) {
// lane
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
+ List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ if (!Cools.isEmpty(laneCodeIdxList)) {
Set<String> lanVehicleSet = new HashSet<>();
- for (String laneCodeData : lane.getCodes()) {
- int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
- // scan dynamicMatrix or WaveMatrix
- DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
+ for (int[] codeMatrixIdx : laneCodeIdxList) {
+ DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
String laneVehicle = laneDynamicNode.getVehicle();
assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!laneVehicle.equals(agvNo)) {
lanVehicleSet.add(laneVehicle);
-// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
}
}
}
-
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
continue;
}
@@ -272,7 +264,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue;
}
- if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
actualLanesOfTurn --;
@@ -317,32 +309,25 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes) {
+ private List<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) {
int x = currentNode.getX();
int y = currentNode.getY();
- ArrayList<RetreatNavigateNode> neighbourNodes = new ArrayList<>();
+ List<RetreatNavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();
- RetreatNavigateNode rightNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x, y + 1), existNodes, null, null);
- if (null != rightNode) {
- neighbourNodes.add(rightNode);
- }
+ List<RetreatNavigateNode> possibleNodes = Arrays.asList(
+ new RetreatNavigateNode(x, y + 1), // right
+ new RetreatNavigateNode(x, y - 1), // left
+ new RetreatNavigateNode(x - 1, y), // up
+ new RetreatNavigateNode(x + 1, y) // down
+ );
- RetreatNavigateNode leftNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x, y - 1), existNodes, null, null);
- if (null != leftNode) {
- neighbourNodes.add(leftNode);
- }
-
- RetreatNavigateNode topNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x - 1, y), existNodes, null, null);
- if (null != topNode) {
- neighbourNodes.add(topNode);
- }
-
- RetreatNavigateNode bottomNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x + 1, y), existNodes, null, null);
- if (null != bottomNode) {
- neighbourNodes.add(bottomNode);
- }
+ possibleNodes.parallelStream()
+ .map(extendNode -> extendNeighborNodes(currentNode, extendNode, existNodes, null, null))
+ .filter(Objects::nonNull)
+ .peek(node -> node.setCodeData(codeMatrix[node.getX()][node.getY()]))
+ .forEach(neighbourNodes::add);
return neighbourNodes;
}
@@ -371,40 +356,21 @@
if (mapMatrix[x][y] == MapNodeType.DISABLE.val) {
return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);
+ }
- } else {
- if (existNodes.contains(nextNode)) {
- return null;
- }
+ assert mapMatrix[x][y] == MapNodeType.ENABLE.val;
- // 鑺傜偣鏄惁鍙敤
- if (mapMatrix[x][y] != MapNodeType.ENABLE.val) {
- return null;
- }
+ if (existNodes.contains(nextNode)) {
+ return null;
+ }
- String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
- String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
- String nextNodeCodeData = codeMatrix[nextNode.getX()][nextNode.getY()];
- nextNode.setCodeData(nextNodeCodeData);
-
- // 鍒ゆ柇閫氳繃鎬�
- String routeKey = RouteGenerator.generateRouteKey(currentNodeCodeData, nextNodeCodeData);
- Object routeVal = redis.getMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey);
- if (routeVal == null || !(Boolean) routeVal) {
- return null;
- }
+ // 鍒ゆ柇閫氳繃鎬�
+ String routeCdaKey = RouteGenerator.generateRouteCdaKey(new int[]{currentNode.getX(), currentNode.getY()}, new int[]{nextNode.getX(), nextNode.getY()});
+ if (!mapDataDispatcher.validRouteCdaKey(routeCdaKey)) {
+ return null;
}
return nextNode;
- }
-
- private boolean isExist(RetreatNavigateNode node, List<RetreatNavigateNode> existNodes) {
- for (RetreatNavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
}
private boolean isSame(RetreatNavigateNode o1, RetreatNavigateNode o2) {
--
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