From 4afa88987f466893800a83ba4767a8f59811473a Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期六, 20 十二月 2025 09:39:32 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 262 ++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 241 insertions(+), 21 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 4528427..c9a2a77 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -2,14 +2,28 @@
import java.util.ArrayList;
import java.util.Collections;
+import java.util.HashMap;
import java.util.HashSet;
import java.util.List;
+import java.util.Map;
+
+import com.zy.core.News;
import org.springframework.stereotype.Component;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.common.model.NavigateNode;
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.asrs.service.DeviceConfigService;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.protocol.StationProtocol;
+import com.zy.core.thread.StationThread;
+import com.zy.system.entity.Config;
+import com.zy.system.service.ConfigService;
@Component
public class NavigateUtils {
@@ -28,30 +42,18 @@
throw new CoolException("鏈壘鍒拌 缁堢偣 瀵瑰簲鐨勮妭鐐�");
}
- NavigateNode res_node = navigateSolution.astarSearchJava(stationMap, startNode, endNode);
- if (res_node == null) {
+ long startTime = System.currentTimeMillis();
+ News.info("[WCS Debug] 绔欑偣璺緞寮�濮嬭绠�,startStationId={},endStationId={}", startStationId, endStationId);
+ List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, 120, 500, 300);
+ if (allList.isEmpty()) {
throw new CoolException("鏈壘鍒拌璺緞");
}
+ News.info("[WCS Debug] 绔欑偣璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
- ArrayList<NavigateNode> list = new ArrayList<>();
- // 浣跨敤 visited 闆嗗悎闃叉鐖堕摼鍑虹幇鐜鑷存寰幆锛屽悓鏃惰缃畨鍏ㄦ鏁颁笂闄�
- HashSet<NavigateNode> visited = new HashSet<>();
- int maxSteps = stationMap.size() * stationMap.get(0).size() + 5; // 瀹夊叏涓婇檺
- int steps = 0;
- while (res_node != null && visited.add(res_node) && steps++ < maxSteps) {
- list.add(res_node);
- res_node = res_node.getFather();//杩唬鎿嶄綔
- }
- if (steps >= maxSteps) {
- throw new CoolException("璺緞鍥炴函瓒呭嚭瀹夊叏涓婇檺锛岀枒浼煎瓨鍦ㄧ埗閾惧惊鐜�");
- }
- Collections.reverse(list);
- //灏嗘瘡涓妭鐐归噷闈㈢殑fatherNode鑷充负null(鏂逛究鍚庣画璁＄畻鏃剁埗鑺傜偣杩囧瀵艰嚧鏄剧ず鐨勮妭鐐瑰お澶�)
- for (NavigateNode navigateNode : list) {
- //鐖惰妭鐐硅缃负null锛屼笉褰卞搷璁＄畻缁撴灉锛屼笉褰卞搷鍚庣画鎿嶄綔銆�
- //姝ゆ搷浣滀粎涓哄悗缁帓鏌ュ鐞嗘彁渚涜瑙夋柟渚裤��
- navigateNode.setFather(null);
- }
+ startTime = System.currentTimeMillis();
+ News.info("[WCS Debug] 绔欑偣璺緞鏉冮噸寮�濮嬪垎鏋�,startStationId={},endStationId={}", startStationId, endStationId);
+ List<NavigateNode> list = findStationBestPath(allList);
+ News.info("[WCS Debug] 绔欑偣璺緞鏉冮噸鍒嗘瀽瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
//鍘婚噸
HashSet<Integer> set = new HashSet<>();
@@ -60,6 +62,20 @@
JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
if(set.add(valuObject.getInteger("stationId"))){
fitlerList.add(navigateNode);
+ }
+ }
+
+ for (int i = 0; i < fitlerList.size(); i++) {
+ NavigateNode currentNode = fitlerList.get(i);
+ currentNode.setIsInflectionPoint(false);
+
+ NavigateNode nextNode = (i + 1 < fitlerList.size()) ? fitlerList.get(i + 1) : null;
+ NavigateNode prevNode = (i - 1 >= 0) ? fitlerList.get(i - 1) : null;
+
+ HashMap<String, Object> result = searchInflectionPoint(currentNode, nextNode, prevNode);
+ if (Boolean.parseBoolean(result.get("result").toString())) {
+ currentNode.setIsInflectionPoint(true);
+ currentNode.setDirection(result.get("direction").toString());
}
}
@@ -80,18 +96,35 @@
throw new CoolException("鏈壘鍒拌 缁堢偣 瀵瑰簲鐨勮妭鐐�");
}
+ long startTime = System.currentTimeMillis();
+ News.info("[WCS Debug] RGV璺緞寮�濮嬭绠�,startTrackSiteNo:{},endTrackSiteNo={}", startTrackSiteNo, endTrackSiteNo);
NavigateNode res_node = navigateSolution.astarSearchJava(rgvTrackMap, startNode, endNode);
if (res_node == null) {
throw new CoolException("鏈壘鍒拌璺緞");
}
+ News.info("[WCS Debug] RGV璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
ArrayList<NavigateNode> list = new ArrayList<>();
// 浣跨敤 visited 闆嗗悎闃叉鐖堕摼鍑虹幇鐜鑷存寰幆锛屽悓鏃惰缃畨鍏ㄦ鏁颁笂闄�
HashSet<NavigateNode> visited = new HashSet<>();
int maxSteps = rgvTrackMap.size() * rgvTrackMap.get(0).size() + 5; // 瀹夊叏涓婇檺
int steps = 0;
+ NavigateNode fatherNode = null;//褰撳墠寰幆涓婁竴鑺傜偣锛岀敤浜庢嫄鐐硅绠�
while (res_node != null && visited.add(res_node) && steps++ < maxSteps) {
+ res_node.setIsInflectionPoint(false);
+
+ //瀵绘壘鎷愮偣
+ HashMap<String, Object> result = searchInflectionPoint(res_node, fatherNode, res_node.getFather());//鍒嗗埆浼犲叆褰撳墠鑺傜偣銆佺埗鑺傜偣銆佷笅涓�鑺傜偣
+ //鍒ゆ柇褰撳墠鑺傜偣鏄惁涓烘嫄鐐�
+ if (Boolean.parseBoolean(result.get("result").toString())) {
+ //褰撳墠涓烘嫄鐐�
+ res_node.setIsInflectionPoint(true);
+ //鎷愮偣鏂瑰悜
+ res_node.setDirection(result.get("direction").toString());
+ }
+
list.add(res_node);
+ fatherNode = res_node;//鎶婂綋鍓嶈妭鐐逛繚瀛樻垚涓�涓埗鑺傜偣
res_node = res_node.getFather();//杩唬鎿嶄綔
}
if (steps >= maxSteps) {
@@ -144,4 +177,191 @@
return liftStationList;
}
+
+ public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
+ if (allList == null || allList.isEmpty()) {
+ return new ArrayList<>();
+ }
+
+ Map<Integer, StationProtocol> statusMap = new HashMap<>();
+ try {
+ DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
+ if (deviceConfigService != null) {
+ List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Devp)));
+ for (DeviceConfig deviceConfig : devpList) {
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
+ if (stationThread == null) {
+ continue;
+ }
+ Map<Integer, StationProtocol> m = stationThread.getStatusMap();
+ if (m != null && !m.isEmpty()) {
+ statusMap.putAll(m);
+ }
+ }
+ }
+ } catch (Exception ignore) {}
+
+ List<List<NavigateNode>> candidates = new ArrayList<>();
+ List<Integer> lens = new ArrayList<>();
+ List<Integer> tasksList = new ArrayList<>();
+ List<Double> congs = new ArrayList<>();
+
+ for (List<NavigateNode> path : allList) {
+ if (path == null || path.isEmpty()) {
+ continue;
+ }
+ int len = path.size();
+ int tasks = 0;
+ HashSet<Integer> stationIdSet = new HashSet<>();
+ for (NavigateNode node : path) {
+ JSONObject value = null;
+ try {
+ value = JSON.parseObject(node.getNodeValue());
+ } catch (Exception ignore) {}
+ if (value == null) {
+ continue;
+ }
+ Integer stationId = value.getInteger("stationId");
+ if (stationId == null) {
+ continue;
+ }
+ if (!stationIdSet.add(stationId)) {
+ continue;
+ }
+ StationProtocol protocol = statusMap.get(stationId);
+ if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
+ tasks++;
+ }
+ }
+ double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
+ candidates.add(path);
+ lens.add(len);
+ tasksList.add(tasks);
+ congs.add(cong);
+ }
+
+ if (candidates.isEmpty()) {
+ return allList.get(0);
+ }
+
+ int minLen = Integer.MAX_VALUE;
+ int maxLen = Integer.MIN_VALUE;
+ double minCong = Double.MAX_VALUE;
+ double maxCong = -Double.MAX_VALUE;
+ for (int i = 0; i < candidates.size(); i++) {
+ int l = lens.get(i);
+ double c = congs.get(i);
+ if (l < minLen) minLen = l;
+ if (l > maxLen) maxLen = l;
+ if (c < minCong) minCong = c;
+ if (c > maxCong) maxCong = c;
+ }
+
+ //闀垮害鏉冮噸鐧惧垎姣�
+ double lenWeightPercent = 50.0;
+ //鎷ュ牭鏉冮噸鐧惧垎姣�
+ double congWeightPercent = 50.0;
+ try {
+ ConfigService configService = SpringUtils.getBean(ConfigService.class);
+ if (configService != null) {
+ Config cfgLen = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathLenWeightPercent"));
+ if (cfgLen != null && cfgLen.getValue() != null) {
+ String v = cfgLen.getValue().trim();
+ if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
+ try { lenWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
+ }
+ Config cfgCong = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathCongWeightPercent"));
+ if (cfgCong != null && cfgCong.getValue() != null) {
+ String v = cfgCong.getValue().trim();
+ if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
+ try { congWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
+ }
+ }
+ } catch (Exception ignore) {}
+
+ double weightSum = lenWeightPercent + congWeightPercent;
+ double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
+ double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
+
+ List<NavigateNode> best = null;
+ double bestCost = Double.MAX_VALUE;
+ int bestTasks = Integer.MAX_VALUE;
+ int bestLen = Integer.MAX_VALUE;
+ for (int i = 0; i < candidates.size(); i++) {
+ int l = lens.get(i);
+ int t = tasksList.get(i);
+ double c = congs.get(i);
+ //褰掍竴鍖�
+ double lenNorm = (maxLen - minLen) <= 0 ? 0.0 : (l - minLen) / (double) (maxLen - minLen);
+ double congNorm = (maxCong - minCong) <= 0 ? 0.0 : (c - minCong) / (double) (maxCong - minCong);
+ //鑾峰彇鏉冮噸
+ double cost = lenNorm * lenW + congNorm * congW;
+ if (cost < bestCost
+ || (cost == bestCost && t < bestTasks)
+ || (cost == bestCost && t == bestTasks && l < bestLen)) {
+ best = candidates.get(i);
+ bestCost = cost;
+ bestTasks = t;
+ bestLen = l;
+ }
+ }
+
+ if (best == null) {
+ return allList.get(0);
+ }
+ return best;
+ }
+
+ //鍒ゆ柇褰撳墠鑺傜偣鍒颁笅涓�涓妭鐐规槸鍚︿负鎷愮偣
+ public HashMap<String,Object> searchInflectionPoint(NavigateNode currentNode, NavigateNode fatherNode, NavigateNode nextNode) {
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("result", false);//鏄惁涓烘嫄鐐癸紝true锛氭嫄鐐癸紝false锛氱洿绾�
+ // 绗竴涓偣鎴栫洿绾跨偣
+ if (fatherNode == null || nextNode == null || nextNode.getX() == fatherNode.getX() || nextNode.getY() == fatherNode.getY()) {
+ return map;//涓嶆槸鎷愮偣鐩存帴杩斿洖
+ }
+
+ //鎷愮偣鏂瑰悜
+ String direction = calcDirection(currentNode, fatherNode);
+
+ map.put("result", true);//鎷愮偣
+ map.put("direction", direction);//鎷愮偣鏂瑰悜锛堜粠褰撳墠鑺傜偣瑙嗚鐪嬬殑鏂瑰悜锛�
+ return map;
+ }
+
+ /**
+ * 璁＄畻鏂瑰悜
+ */
+ public String calcDirection(NavigateNode currentNode, NavigateNode fatherNode) {
+ //鎷愮偣鏂瑰悜
+ String direction = "";
+ // 鏅�氭嫄鐐�
+ //璁＄畻鎷愮偣鏂瑰悜
+ if (fatherNode.getX() != currentNode.getX()) {
+ //x杞存暟鎹湁宸紓锛屽垽鏂瓁杞存柟鍚�
+ //褰撳墠鑺傜偣X - 鐖惰妭鐐筙
+ if (currentNode.getX() - fatherNode.getX() > 0) {
+ //澶т簬0锛屾柟鍚憈op
+ direction = "top";
+ }else {
+ //灏忎簬0锛屾柟鍚慴ottom
+ direction = "bottom";
+ }
+ }
+
+ if (fatherNode.getY() != currentNode.getY()) {
+ //y杞存暟鎹湁宸紓锛屽垽鏂瓂杞存柟鍚�
+ //褰撳墠鑺傜偣Y - 鐖惰妭鐐筜
+ if (currentNode.getY() - fatherNode.getY() > 0) {
+ //澶т簬0锛屾柟鍚憀eft
+ direction = "left";
+ }else {
+ //灏忎簬0锛屾柟鍚憆ight
+ direction = "right";
+ }
+ }
+
+ return direction;
+ }
}
--
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