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 | 295 +++++++++++++++++++++++++++++++++++++---------------------
1 files changed, 188 insertions(+), 107 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 0a57d35..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
@@ -1,24 +1,26 @@
package com.zy.acs.manager.core.service;
-import com.zy.acs.framework.common.Cools;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.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.service.AgvModelService;
-import com.zy.acs.manager.manager.service.AgvService;
-import com.zy.acs.manager.manager.service.CodeService;
-import com.zy.acs.manager.manager.service.RouteService;
+import com.zy.acs.manager.manager.entity.Segment;
+import com.zy.acs.manager.manager.enums.JamStateType;
+import com.zy.acs.manager.manager.service.*;
+import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
-import java.util.PriorityQueue;
+import java.util.*;
+import java.util.concurrent.CopyOnWriteArrayList;
import java.util.stream.Collectors;
/**
@@ -28,10 +30,12 @@
@Service
public class RetreatNavigateService {
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+
+ public static final int WEIGHT_CALC_FACTOR = 10000;
+
@Autowired
private CodeService codeService;
- @Autowired
- private RouteService routeService;
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
@@ -40,6 +44,14 @@
private AgvService agvService;
@Autowired
private AgvModelService agvModelService;
+ @Autowired
+ private LaneService laneService;
+ @Autowired
+ private ConfigService configService;
+ @Autowired
+ private SegmentService segmentService;
+ @Autowired
+ private JamService jamService;
/**
* avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -50,50 +62,106 @@
return null;
}
Integer lev = null;
+ Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
List<String> blackList = Utils.singletonList(sponsor);
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
- , MapDataConstant.IDLE_DISTANCE_COE);
+ 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);
-
RetreatNavigateNode finialNode = null;
PriorityQueue<RetreatNavigateNode> openQueue = new PriorityQueue<>();
- ArrayList<RetreatNavigateNode> existNodes = new ArrayList<>();
+ Set<RetreatNavigateNode> existNodes = new HashSet<>();
openQueue.add(start);
existNodes.add(start);
+ boolean phaseSecond = true;
- while (openQueue.size() > 0 && null == finialNode) {
+ while (!openQueue.isEmpty() && null == finialNode) {
RetreatNavigateNode currentNode = openQueue.poll();
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
- for (RetreatNavigateNode node : neighborNodes) {
+ List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
+ boolean pointOfTurn = neighborNodes.size() >= 2;
+ label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
int weight = 0;
+ // wave
String waveNode = waveMatrix[node.getX()][node.getY()];
assert !waveNode.equals(WaveNodeType.DISABLE.val);
if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
- if (!Cools.isEmpty(otherWaveList)) {
+ for (String otherWave : otherWaveList) {
+ if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
+ continue label;
+ }
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
+ phaseSecond = false; // there is a running way
+ continue label;
+ } else {
+ weight += WEIGHT_CALC_FACTOR;
+ }
+ }
+ }
- if (!Cools.isEmpty(blackList) && !Cools.isEmpty(MapDataUtils.hasIntersection(otherWaveList, blackList))) {
+ // lane
+ if (pointOfTurn) {
+ List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ if (!Cools.isEmpty(laneCodeIdxList)) {
+ Set<String> lanVehicleSet = new HashSet<>();
+
+ for (int[] codeMatrixIdx : laneCodeIdxList) {
+ // overlap with sponsor
+ String laneCodeData = codeMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
+ if (avoidPathList.contains(laneCodeData)) {
+ lanVehicleSet.add(sponsor);
+ }
+
+ 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);
+ }
+ }
+ }
+ if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
+ phaseSecond = false; // there is a running way
continue;
}
+ if (lanVehicleSet.contains(sponsor)) {
+ weight += WEIGHT_CALC_FACTOR * 2;
+ }
+ }
- weight += otherWaveList.size();
+ }
+
+ 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
+ List<Segment> runningSegments = segmentService.getRunningByEndCode(code.getId());
+ for (Segment runningSeg : runningSegments) {
+ if (0 < jamService.count(new LambdaQueryWrapper<Jam>()
+ .eq(Jam::getAvoSeg, runningSeg.getId())
+ .ne(Jam::getState, JamStateType.DEPRECATED.toString()))) {
+ weight += WEIGHT_CALC_FACTOR * 3;
+ } else {
+ weight += WEIGHT_CALC_FACTOR;
}
}
@@ -121,47 +189,95 @@
}
- if (null == finialNode) {
+ if (null == finialNode && phaseSecond) {
// assert openQueue.size() == 0;
existNodes.clear();
openQueue.add(start);
existNodes.add(start);
- RetreatNavigateNode firstPointOfTurn = null;
- List<String> firstPointWaveScopeOfTurn = new ArrayList<>();
+ RetreatNavigateNode availablePointOfTurn = null;
+ List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
+ int actualLanesOfTurn = 0;
+ int filterPointOfTurnTimes = 0;
- while (openQueue.size() > 0 && null == finialNode) {
+ while (!openQueue.isEmpty() && null == finialNode) {
RetreatNavigateNode currentNode = openQueue.poll();
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
- int forks = neighborNodes.size();
- if (firstPointOfTurn == null && forks >= 2 && !isSame(start, currentNode)) {
- firstPointOfTurn = currentNode;
- firstPointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, firstPointOfTurn.getCodeData(), avoidDistance)
- .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ 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) {
+ // 璁＄畻鏄惁涓哄彲鐢ㄨ浆寮偣
+ if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
+ filterPointOfTurnTimes ++;
+ if (filterPointOfTurnTimes > 2) { break; }
+
+ for (RetreatNavigateNode node : neighborNodes) {
+ // lane
+ List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ if (!Cools.isEmpty(laneCodeIdxList)) {
+ Set<String> lanVehicleSet = new HashSet<>();
+
+ 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);
+ }
+ }
+ }
+ if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
+ continue;
+ }
+ }
+
+ actualLanesOfTurn ++;
+ }
+
+ // 鏈変袱鏉′互涓婂彲璧板贩閬擄紝鍒欒涓烘湁鏁堣浆寮偣
+ if (actualLanesOfTurn >= 2) {
+ availablePointOfTurn = currentNode;
+ availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
+ .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ } else {
+ actualLanesOfTurn = 0;
+ }
+ }
}
- for (RetreatNavigateNode node : neighborNodes) {
-
+ // 寤朵几杞集鐐瑰贩閬�
+ label: for (RetreatNavigateNode node : neighborNodes) {
int weight = 0;
+ // wave
String waveNode = waveMatrix[node.getX()][node.getY()];
assert !waveNode.equals(WaveNodeType.DISABLE.val);
if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
- if (!Cools.isEmpty(otherWaveList)) {
+ for (String otherWave : otherWaveList) {
+ if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
+ continue;
+ }
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
- weight += otherWaveList.size();
+ if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
+ actualLanesOfTurn --;
+ }
+ continue label;
+ } else {
+ weight += WEIGHT_CALC_FACTOR;
+ }
}
}
- // have cross turn road
- if (null != firstPointOfTurn) {
- if (!firstPointWaveScopeOfTurn.contains(node.getCodeData())) {
+ if (null != availablePointOfTurn) {
+ if (!availablePointWaveScopeOfTurn.contains(node.getCodeData())) {
enableNodes.add(node);
}
}
@@ -173,10 +289,16 @@
existNodes.add(node);
}
- if (!Cools.isEmpty(enableNodes)) {
- Collections.sort(enableNodes);
- finialNode = enableNodes.stream().findFirst().orElse(null);
- jam.setCycleAvo(1);
+ if (actualLanesOfTurn < 2) {
+ availablePointOfTurn = null;
+ availablePointWaveScopeOfTurn = new ArrayList<>();
+ actualLanesOfTurn = 0;
+ } else {
+ if (!Cools.isEmpty(enableNodes)) {
+ Collections.sort(enableNodes);
+ finialNode = enableNodes.stream().findFirst().orElse(null);
+ jam.setCycleAvo(1);
+ }
}
}
@@ -186,50 +308,31 @@
return finialNode;
}
- private int calcNodeWeightVal(List<String> otherWaveList) {
- int weightVal = 0;
-
- if (!Cools.isEmpty(otherWaveList)) {
-
-
- }
-
-
- return weightVal;
- }
-
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, List<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;
}
- private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, List<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
+ private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, Set<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
RetreatNavigateNode nextNode;
if (null == dx || null == dy) {
@@ -253,43 +356,21 @@
if (mapMatrix[x][y] == MapNodeType.DISABLE.val) {
return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);
+ }
- } else {
- if (this.isExist(nextNode, existNodes)) {
- 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�
- Route route = routeService.findByCodeOfBoth(
- codeService.selectByData(currentNodeCodeData).getId(),
- codeService.selectByData(nextNodeCodeData).getId()
- );
- if (null == route) {
- 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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