更新版本

jianghaiyue

17 小时以前 d808837cd368c3772962be591aa6532bcc0cf3e4

 algo-zkd/src/main/java/com/algo/service/PathPlanningService.java

@@ -3,6 +3,7 @@
import com.algo.config.EnvDataConfig;
import com.algo.model.*;
import com.algo.util.JsonUtils;
import com.algo.util.PathTimeCalculator;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

@@ -43,6 +44,11 @@
     * 剩余路径处理
     */
    private RemainingPathProcessor remainingPathProcessor;
    
    /**
     * 路径时间计算器
     */
    private PathTimeCalculator timeCalculator;


    /**
@@ -73,6 +79,13 @@

        // 初始化剩余路径处理器
        this.remainingPathProcessor = new RemainingPathProcessor(envDataConfig.getPathMapping());
        
        // 初始化时间计算器
        Map<String, double[]> realCoordinateMapping = JsonUtils.loadRealCoordinateMapping("man_code.json");
        this.timeCalculator = new PathTimeCalculator(envDataConfig.getPathMapping(), realCoordinateMapping);
        
        // 为碰撞解决器设置时间计算器
        this.collisionResolver.setTimeCalculator(timeCalculator);
    }

    /**
@@ -320,7 +333,7 @@
                                                         List<double[]> constraints,
                                                         Map<String, String> occupancyMap,
                                                         AGVStatus agvStatus) {
        // 首先尝试基本路径规划
        // 尝试基本路径规划
        PlannedPath basicPath = pathPlanner.planPath(startPos, endPos, constraints);
        if (basicPath == null) {
            return null;
@@ -331,8 +344,8 @@
                basicPath, occupancyMap, agvStatus.getPhysicalConfig()
        );

        // 设置路径的时间信息
        enhancePathWithTimeInfo(basicPath, safeStartTime, agvStatus.getPhysicalConfig());
        // 使用统一的时间计算器设置精确的时间信息
        timeCalculator.calculatePathTiming(basicPath, safeStartTime, agvStatus.getPhysicalConfig(), 0.0);

        return basicPath;
    }