38 changed files with 1018 additions and 165 deletions
@ -0,0 +1,30 @@ |
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package com.galaxis.rcs.common.entity; |
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import lombok.Data; |
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import java.io.Serializable; |
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import java.util.Date; |
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/** |
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* (lcc_env_info) |
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*/ |
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@Data |
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public class LccEnvInfo implements Serializable { |
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/** 环境ID */ |
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private Long envId; |
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/** 世界地图ID */ |
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private String worldId; |
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/** 环境名称 */ |
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private String envName; |
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/** 是否虚拟环境 */ |
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private Boolean isVirtual; |
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/** 环境负载信息 */ |
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private String envPayload; |
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/** 创建时间 */ |
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private Date createAt; |
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/** 创建人 */ |
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private String createBy; |
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/** 更新时间 */ |
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private Date updateAt; |
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/** 更新人 */ |
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private String updateBy; |
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} |
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@ -0,0 +1,46 @@ |
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package com.galaxis.rcs.common.enums; |
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|
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public enum BizTaskStatus { |
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/** |
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* 待调度 |
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*/ |
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WAITING_FOR_DISPATCH, |
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|
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/** |
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* 设备执行中 |
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*/ |
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DEVICE_EXECUTING, |
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/** |
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* 暂停执行 |
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*/ |
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PAUSED, |
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/** |
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* 调度异常 |
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*/ |
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DISPATCH_ERROR, |
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/** |
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* 规划异常 |
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*/ |
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PLANNING_ERROR, |
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|
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/** |
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* 设备执行异常 |
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*/ |
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DEVICE_ERROR; |
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public static BizTaskStatus fromString(String value) { |
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if (value == null) |
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throw new IllegalArgumentException("Value cannot be null"); |
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for (BizTaskStatus type : BizTaskStatus.values()) { |
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if (type.toString().equalsIgnoreCase(value.trim())) { |
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return type; |
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} |
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} |
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throw new IllegalArgumentException("No constant with name: " + value); |
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} |
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} |
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@ -1,5 +1,18 @@ |
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package com.galaxis.rcs.common.enums; |
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|
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public enum BizTaskType { |
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CARRY, // 搬运任务
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CARRY; // 搬运任务
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public static BizTaskType fromString(String value) { |
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if (value == null) |
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throw new IllegalArgumentException("Value cannot be null"); |
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|
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for (BizTaskType type : BizTaskType.values()) { |
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if (type.toString().equalsIgnoreCase(value.trim())) { |
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return type; |
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} |
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} |
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|
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throw new IllegalArgumentException("No constant with name: " + value); |
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} |
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} |
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@ -0,0 +1,26 @@ |
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package com.galaxis.rcs.common.enums; |
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|
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/** |
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* 表示货位 与 路标点, 在世界坐标中的相对位置关系 |
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*/ |
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public enum OperationSide { |
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/** |
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* 货位在路标点的上方 |
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*/ |
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TOP, |
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|
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/** |
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* 货位在路标点的下方 |
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*/ |
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BOTTOM, |
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|
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/** |
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* 货位在路标点的左侧 |
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*/ |
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LEFT, |
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/** |
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* 货位在路标点的右侧 |
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*/ |
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RIGHT |
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} |
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@ -0,0 +1,74 @@ |
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package com.galaxis.rcs.common.query; |
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import static com.querydsl.core.types.PathMetadataFactory.*; |
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import com.querydsl.core.types.dsl.*; |
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import com.querydsl.core.types.*; |
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import com.querydsl.sql.*; |
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import java.sql.Types; |
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import com.galaxis.rcs.common.entity.LccEnvInfo; |
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import java.util.Date; |
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/** |
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* (lcc_env_info) |
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*/ |
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@SuppressWarnings("ALL") |
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public class QLccEnvInfo extends RelationalPathBase<LccEnvInfo> { |
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/** lcc_env_info表 */ |
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public static final QLccEnvInfo lccEnvInfo = new QLccEnvInfo("lcc_env_info"); |
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/** 环境ID */ |
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public final NumberPath<Long> envId = createNumber("envId", Long.class); |
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/** 世界地图ID */ |
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public final StringPath worldId = createString("worldId"); |
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/** 环境名称 */ |
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public final StringPath envName = createString("envName"); |
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/** 是否虚拟环境 */ |
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public final BooleanPath isVirtual = createBoolean("isVirtual"); |
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/** 环境负载信息 */ |
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public final StringPath envPayload = createString("envPayload"); |
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/** 创建时间 */ |
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public final DateTimePath<Date> createAt = createDateTime("createAt", Date.class); |
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/** 创建人 */ |
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public final StringPath createBy = createString("createBy"); |
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/** 更新时间 */ |
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public final DateTimePath<Date> updateAt = createDateTime("updateAt", Date.class); |
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/** 更新人 */ |
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public final StringPath updateBy = createString("updateBy"); |
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public QLccEnvInfo(String variable) { |
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super(LccEnvInfo.class, forVariable(variable), "rcs2_tw_zhanghui", "lcc_env_info"); |
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addMetadata(); |
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} |
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public QLccEnvInfo(String variable, String schema, String table) { |
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super(LccEnvInfo.class, forVariable(variable), schema, table); |
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addMetadata(); |
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} |
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public QLccEnvInfo(String variable, String schema) { |
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super(LccEnvInfo.class, forVariable(variable), schema, "lcc_env_info"); |
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addMetadata(); |
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} |
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public QLccEnvInfo(Path<? extends LccEnvInfo> path) { |
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super(path.getType(), path.getMetadata(), "rcs2_tw_zhanghui", "lcc_env_info"); |
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addMetadata(); |
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} |
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public QLccEnvInfo(PathMetadata metadata) { |
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super(LccEnvInfo.class, metadata, "rcs2_tw_zhanghui", "lcc_env_info"); |
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addMetadata(); |
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} |
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private void addMetadata() { |
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addMetadata(envId, ColumnMetadata.named("env_id").withIndex(1).ofType(Types.BIGINT).withSize(19)); |
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addMetadata(worldId, ColumnMetadata.named("world_id").withIndex(2).ofType(Types.VARCHAR).withSize(50)); |
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addMetadata(envName, ColumnMetadata.named("env_name").withIndex(3).ofType(Types.VARCHAR).withSize(50)); |
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addMetadata(isVirtual, ColumnMetadata.named("is_virtual").withIndex(4).ofType(Types.BIT).withSize(3)); |
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addMetadata(envPayload, ColumnMetadata.named("env_payload").withIndex(5).ofType(Types.VARCHAR).withSize(3000)); |
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addMetadata(createAt, ColumnMetadata.named("create_at").withIndex(6).ofType(Types.TIMESTAMP)); |
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addMetadata(createBy, ColumnMetadata.named("create_by").withIndex(7).ofType(Types.VARCHAR).withSize(50)); |
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addMetadata(updateAt, ColumnMetadata.named("update_at").withIndex(8).ofType(Types.TIMESTAMP)); |
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addMetadata(updateBy, ColumnMetadata.named("update_by").withIndex(9).ofType(Types.VARCHAR).withSize(50)); |
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} |
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} |
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@ -0,0 +1,29 @@ |
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package com.galaxis.rcs.plan.path; |
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/** |
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* A*路径节点状态 |
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*/ |
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public record AStarNodeState( |
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String nodeId, // 当前节点ID
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int direction, // 当前方向 (0,90,180,270)
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float gCost, // 实际代价
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float hCost, // 启发式代价
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AStarNodeState parent // 父节点
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) implements Comparable<AStarNodeState> { |
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// 状态唯一标识
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public String stateKey() { |
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return nodeId + ":" + direction; |
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} |
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// 总代价
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public float fCost() { |
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return gCost + hCost; |
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} |
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@Override |
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public int compareTo(AStarNodeState other) { |
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return Float.compare(this.fCost(), other.fCost()); |
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} |
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} |
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@ -0,0 +1,122 @@ |
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package com.galaxis.rcs.plan.path; |
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import java.util.*; |
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/** |
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* A*路径规划器 |
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*/ |
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public class AStarPathPlanner { |
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private final NavigationGraph graph; |
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public AStarPathPlanner(NavigationGraph graph) { |
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this.graph = graph; |
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} |
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/** |
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* 规划路径 |
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* |
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* @param startNodeId 起始节点ID |
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* @param startDirection 起始方向 |
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* @param endNodeId 目标节点ID |
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* @param endDirection 目标方向 |
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* @return 路径节点序列 (包含方向信息) |
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*/ |
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public List<AStarNodeState> planPath(String startNodeId, int startDirection, String endNodeId, int endDirection) { |
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// 开放集 (优先队列)
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PriorityQueue<AStarNodeState> openSet = new PriorityQueue<>(); |
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// 状态管理
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Map<String, Float> gScoreMap = new HashMap<>(); |
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Map<String, AStarNodeState> cameFrom = new HashMap<>(); |
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// 初始化起点
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AStarNodeState start = new AStarNodeState( |
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startNodeId, |
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startDirection, |
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0, |
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graph.heuristicCost(startNodeId, endNodeId), |
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null |
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); |
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openSet.add(start); |
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gScoreMap.put(start.stateKey(), 0.0f); |
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while (!openSet.isEmpty()) { |
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AStarNodeState current = openSet.poll(); |
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// 到达目标状态
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if (current.nodeId().equals(endNodeId) && |
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current.direction() == endDirection) { |
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return reconstructPath(cameFrom, current); |
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} |
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// 处理移动操作 (到相邻节点)
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for (NavigationNode neighbor : graph.getAdjacentNodes(current.nodeId())) { |
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PathSegment segment = graph.getPathSegment(current.nodeId(), neighbor.id()); |
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if (segment == null) continue; |
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float moveCost = segment.distance(); |
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float tentativeGCost = current.gCost() + moveCost; |
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String neighborKey = neighbor.id() + ":" + current.direction(); |
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// 发现更好路径
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if (tentativeGCost < gScoreMap.getOrDefault(neighborKey, Float.MAX_VALUE)) { |
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AStarNodeState neighborState = new AStarNodeState( |
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neighbor.id(), |
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current.direction(), |
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tentativeGCost, |
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graph.heuristicCost(neighbor.id(), endNodeId), |
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current |
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); |
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cameFrom.put(neighborKey, current); |
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gScoreMap.put(neighborKey, tentativeGCost); |
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openSet.add(neighborState); |
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} |
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} |
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// 处理旋转操作 (当前节点可旋转时)
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NavigationNode currentNode = graph.nodes.get(current.nodeId()); |
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if (currentNode != null && currentNode.rotatable()) { |
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for (int rotation : new int[]{90, -90}) { |
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int newDirection = (current.direction() + rotation + 360) % 360; |
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float rotateCost = 1.0f; // 旋转代价
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float tentativeGCost = current.gCost() + rotateCost; |
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String rotatedKey = current.nodeId() + ":" + newDirection; |
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// 发现更好路径
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if (tentativeGCost < gScoreMap.getOrDefault(rotatedKey, Float.MAX_VALUE)) { |
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AStarNodeState rotatedState = new AStarNodeState( |
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current.nodeId(), |
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newDirection, |
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tentativeGCost, |
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current.hCost(), // 旋转不改变位置，启发值不变
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current |
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); |
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cameFrom.put(rotatedKey, current); |
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gScoreMap.put(rotatedKey, tentativeGCost); |
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openSet.add(rotatedState); |
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} |
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} |
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} |
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} |
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return Collections.emptyList(); // 未找到路径
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} |
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private List<AStarNodeState> reconstructPath( |
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Map<String, AStarNodeState> cameFrom, |
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AStarNodeState endState |
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) { |
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LinkedList<AStarNodeState> path = new LinkedList<>(); |
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AStarNodeState current = endState; |
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while (current != null) { |
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path.addFirst(current); |
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current = cameFrom.get(current.stateKey()); |
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} |
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return path; |
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} |
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} |
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@ -1,4 +0,0 @@ |
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package com.galaxis.rcs.plan.path; |
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public class ChargerPoint { |
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} |
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@ -0,0 +1,95 @@ |
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package com.galaxis.rcs.plan.path; |
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import com.galaxis.rcs.common.enums.OperationSide; |
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import com.yvan.logisticsModel.LogisticsRuntime; |
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import org.clever.core.Conv; |
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import java.util.List; |
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import java.util.Map; |
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public class GraphInitializer { |
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public NavigationGraph initializeGraph(LogisticsRuntime runtime, String agvType, List<Map<String, Object>> jsonData) { |
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if (runtime.executorGraphMap.containsKey(agvType)) { |
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return runtime.executorGraphMap.get(agvType); |
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} |
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NavigationGraph graph = new NavigationGraph(); |
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runtime.executorGraphMap.put(agvType, graph); |
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// 第一步：创建所有节点
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for (Map<String, Object> nodeData : jsonData) { |
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String id = (String) nodeData.get("id"); |
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// 判断是否是 way 类型才创建 NavigationNode
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if (!"way".equals(nodeData.get("t"))) { |
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continue; |
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} |
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List<List<Float>> tf = (List<List<Float>>) nodeData.get("tf"); |
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float x = tf.get(0).get(0); |
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float z = tf.get(0).get(2); |
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// 检查是否为可旋转点
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Map<String, Object> dt = (Map<String, Object>) nodeData.get("dt"); |
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boolean rotatable = false; |
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if (dt.containsKey("agvRotation")) { |
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rotatable = true; |
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} |
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// 添加节点
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graph.addNode(new NavigationNode(id, x, z, rotatable)); |
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} |
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// 第二步：添加路径连接
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for (Map<String, Object> nodeData : jsonData) { |
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if (!"way".equals(nodeData.get("t"))) continue; |
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String id = (String) nodeData.get("id"); |
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Map<String, Object> dt = (Map<String, Object>) nodeData.get("dt"); |
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List<String> outEdges = (List<String>) dt.get("out"); |
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if (outEdges != null) { |
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for (String neighborId : outEdges) { |
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if (graph.nodes.containsKey(id) && graph.nodes.containsKey(neighborId)) { |
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NavigationNode from = graph.nodes.get(id); |
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NavigationNode to = graph.nodes.get(neighborId); |
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graph.addBidirectionalPath(from, to); |
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} |
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} |
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} |
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} |
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// 第三步：添加操作点 OperationPoint
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for (Map<String, Object> nodeData : jsonData) { |
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if (!"way".equals(nodeData.get("t"))) continue; |
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String nodeId = (String) nodeData.get("id"); |
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Map<String, Object> dt = (Map<String, Object>) nodeData.get("dt"); |
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|
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if (dt.containsKey("linkStore")) { |
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List<Map<String, Object>> linkStores = (List<Map<String, Object>>) dt.get("linkStore"); |
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for (Map<String, Object> store : linkStores) { |
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String targetId = (String) store.get("item"); |
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Integer bay = Conv.asInteger(store.get("bay")); |
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Integer level = Conv.asInteger(store.get("level")); |
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Integer cell = Conv.asInteger(store.get("cell")); |
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// 根据位置确定方位（这里假设固定为 TOP，可根据 tf 中的方向判断更精确）
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OperationSide side = OperationSide.TOP; |
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OperationPoint point = new OperationPoint( |
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graph.nodes.get(nodeId), |
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targetId, |
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side, |
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bay, |
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level, |
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cell |
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); |
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graph.addOperationPoint(point); |
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} |
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} |
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} |
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return graph; |
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} |
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} |
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@ -0,0 +1,69 @@ |
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package com.galaxis.rcs.plan.path; |
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|
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import java.util.*; |
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import java.util.concurrent.ConcurrentHashMap; |
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/** |
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* 导航图管理器 |
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*/ |
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public class NavigationGraph { |
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final Map<String, NavigationNode> nodes = new ConcurrentHashMap<>(); |
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final Map<String, OperationPoint> operationPoints = new ConcurrentHashMap<>(); |
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final Map<String, PathSegment> pathSegments = new ConcurrentHashMap<>(); |
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final Map<String, List<NavigationNode>> adjacencyList = new ConcurrentHashMap<>(); |
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// 添加节点
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public void addNode(NavigationNode node) { |
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nodes.put(node.id(), node); |
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adjacencyList.put(node.id(), new ArrayList<>()); |
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} |
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|
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// 添加双向路径
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public void addBidirectionalPath(NavigationNode a, NavigationNode b) { |
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float distance = a.distanceTo(b); |
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pathSegments.put(a.id() + "->" + b.id(), new PathSegment(a, b, distance)); |
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pathSegments.put(b.id() + "->" + a.id(), new PathSegment(b, a, distance)); |
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adjacencyList.get(a.id()).add(b); |
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adjacencyList.get(b.id()).add(a); |
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} |
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|
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// 添加操作点
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public void addOperationPoint(OperationPoint point) { |
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operationPoints.put(point.locationKey(), point); |
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} |
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// 查找操作点
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public OperationPoint findOperationPoint(String locationKey) { |
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return operationPoints.get(locationKey); |
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} |
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|
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// 获取路径段
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public PathSegment getPathSegment(String startId, String endId) { |
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return pathSegments.get(startId + "->" + endId); |
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} |
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|
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// 获取相邻节点
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public List<NavigationNode> getAdjacentNodes(String nodeId) { |
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return adjacencyList.getOrDefault(nodeId, Collections.emptyList()); |
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} |
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// 获取最近的旋转点
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public NavigationNode findNearestRotationPoint(String startId) { |
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NavigationNode start = nodes.get(startId); |
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if (start == null) return null; |
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return nodes.values().parallelStream() |
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.filter(NavigationNode::rotatable) |
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.min(Comparator.comparing(start::distanceTo)) |
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.orElse(null); |
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} |
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|
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// 计算启发式代价 (使用欧几里得距离)
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public float heuristicCost(String fromId, String toId) { |
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NavigationNode from = nodes.get(fromId); |
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NavigationNode to = nodes.get(toId); |
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if (from == null || to == null) return Float.MAX_VALUE; |
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return from.distanceTo(to); |
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} |
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} |
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@ -0,0 +1,25 @@ |
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package com.galaxis.rcs.plan.path; |
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|
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import org.clever.core.Conv; |
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|
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/** |
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* 路标节点（地图中的顶点） |
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*/ |
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public record NavigationNode( |
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String id, // 节点ID (如 "20", "charger1")
|
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float x, // 向右增长
|
|||
float z, // 向下增长 (y无效)
|
|||
boolean rotatable // 是否为可旋转位
|
|||
) implements Comparable<NavigationNode> { |
|||
// 计算到另一个节点的欧几里得距离
|
|||
public float distanceTo(NavigationNode other) { |
|||
float dx = this.x - other.x; |
|||
float dz = this.z - other.z; |
|||
return Conv.asFloat(Math.sqrt(dx * dx + dz * dz)); |
|||
} |
|||
|
|||
@Override |
|||
public int compareTo(NavigationNode other) { |
|||
return this.id.compareTo(other.id); |
|||
} |
|||
} |
|||
@ -0,0 +1,33 @@ |
|||
package com.galaxis.rcs.plan.path; |
|||
|
|||
import com.galaxis.rcs.common.enums.OperationSide; |
|||
|
|||
/** |
|||
* 操作位置（取货/放货/充电点） |
|||
*/ |
|||
public record OperationPoint( |
|||
NavigationNode node, // 关联的路标节点
|
|||
String targetId, // 货位ID (如 "54") 或货架ID (如 "rack1")
|
|||
OperationSide side, // 方位
|
|||
Integer bay, // 列 (货架时非空)
|
|||
Integer level, // 层 (货架时非空)
|
|||
Integer cell // 格 (货架时非空)
|
|||
) { |
|||
// 计算操作所需方向
|
|||
public int requiredDirection() { |
|||
return switch (side) { |
|||
case LEFT -> 90; |
|||
case RIGHT -> 270; |
|||
case TOP -> 0; |
|||
case BOTTOM -> 180; |
|||
}; |
|||
} |
|||
|
|||
// 位置唯一标识
|
|||
public String locationKey() { |
|||
if (bay == null || level == null || cell == null) { |
|||
return targetId; // 地堆货位
|
|||
} |
|||
return targetId + "-" + bay + "-" + level + "-" + cell; |
|||
} |
|||
} |
|||
@ -1,7 +0,0 @@ |
|||
package com.galaxis.rcs.plan.path; |
|||
|
|||
/** |
|||
* 物流任务路径信息管理类 |
|||
*/ |
|||
public class PathInfoManager { |
|||
} |
|||
@ -0,0 +1,15 @@ |
|||
package com.galaxis.rcs.plan.path; |
|||
|
|||
/** |
|||
* 路径段（节点之间的连接） |
|||
*/ |
|||
public record PathSegment( |
|||
NavigationNode start, // 起点节点
|
|||
NavigationNode end, // 终点节点
|
|||
float distance // 路径距离
|
|||
) { |
|||
// 路径唯一标识
|
|||
public String key() { |
|||
return start.id() + "->" + end.id(); |
|||
} |
|||
} |
|||
@ -1,4 +0,0 @@ |
|||
package com.galaxis.rcs.plan.path; |
|||
|
|||
public class Point { |
|||
} |
|||
@ -1,4 +0,0 @@ |
|||
package com.galaxis.rcs.plan.path; |
|||
|
|||
public class StorePoint { |
|||
} |
|||
@ -1,4 +0,0 @@ |
|||
package com.galaxis.rcs.plan.path; |
|||
|
|||
public class WayPoint { |
|||
} |
|||
@ -0,0 +1,31 @@ |
|||
package com.yvan.workbench.controller; |
|||
|
|||
import com.yvan.workbench.model.entity.Model; |
|||
import org.clever.core.Conv; |
|||
import org.clever.core.json.JsonWrapper; |
|||
import org.clever.data.jdbc.DaoFactory; |
|||
import org.clever.data.jdbc.QueryDSL; |
|||
import org.clever.data.jdbc.querydsl.utils.QueryDslUtils; |
|||
import org.clever.web.mvc.annotation.RequestBody; |
|||
import org.springframework.data.redis.core.query.QueryUtils; |
|||
import org.springframework.web.bind.annotation.ResponseBody; |
|||
|
|||
import java.util.LinkedHashMap; |
|||
import java.util.List; |
|||
import java.util.Map; |
|||
|
|||
import static com.galaxis.rcs.common.query.QLccEnvInfo.lccEnvInfo; |
|||
|
|||
public class EnvController { |
|||
static final QueryDSL queryDSL = DaoFactory.getQueryDSL(); |
|||
|
|||
@ResponseBody |
|||
public static Model<List<LinkedHashMap<String, Object>>> getAllEnv(@RequestBody Map<String, Object> params) { |
|||
var list = queryDSL.select(QueryDslUtils.linkedMap(lccEnvInfo)) |
|||
.from(lccEnvInfo) |
|||
.where(lccEnvInfo.worldId.eq(Conv.asString(params.get("worldId")))) |
|||
.fetch(); |
|||
|
|||
return Model.newSuccess(list); |
|||
} |
|||
} |
|||
@ -0,0 +1,38 @@ |
|||
package com.yvan.workbench.model.entity; |
|||
|
|||
public class Model<T> implements java.io.Serializable { |
|||
private boolean success = false; |
|||
private T data; |
|||
private String msg = ""; |
|||
|
|||
public static <T> Model<T> newSuccess(T data) { |
|||
return new Model<T>().setData(data).setSuccess(true).setMsg("操作成功"); |
|||
} |
|||
|
|||
public T getData() { |
|||
return data; |
|||
} |
|||
|
|||
public Model<T> setData(T data) { |
|||
this.data = data; |
|||
return this; |
|||
} |
|||
|
|||
public String getMsg() { |
|||
return msg; |
|||
} |
|||
|
|||
public Model<T> setMsg(String msg) { |
|||
this.msg = msg; |
|||
return this; |
|||
} |
|||
|
|||
public boolean isSuccess() { |
|||
return success; |
|||
} |
|||
|
|||
public Model<T> setSuccess(boolean success) { |
|||
this.success = success; |
|||
return this; |
|||
} |
|||
} |
|||
Loading…
Reference in new issue