#

luxiaotao1123

2024-11-12 0628aaf9aa7c172cd5288f553ef045f8077ea9e4

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java

@@ -31,7 +31,7 @@

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    public static final int WEIGHT_CALC_COEFFICIENT = 1000;
    public static final int WEIGHT_CALC_FACTOR = 10000;

    @Autowired
    private CodeService codeService;
@@ -65,7 +65,7 @@
        List<String> blackList = Utils.singletonList(sponsor);

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
                , MapDataConstant.IDLE_DISTANCE_COE);
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
@@ -79,6 +79,7 @@

        openQueue.add(start);
        existNodes.add(start);
        boolean phaseSecond = true;

        while (openQueue.size() > 0 && null == finialNode) {

@@ -87,6 +88,7 @@
            List<RetreatNavigateNode> enableNodes = new ArrayList<>();

            ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
            boolean pointOfTurn = neighborNodes.size() >= 2;
            label: for (RetreatNavigateNode node : neighborNodes) {
                if (node.getCodeData().equals(breakPoint)) { continue; }

@@ -103,35 +105,46 @@
                            continue label;
                        }
                        if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                            phaseSecond = false;    // there is a way to go
                            continue label;
                        } else {
                            weight += WEIGHT_CALC_COEFFICIENT;
                            weight += WEIGHT_CALC_FACTOR;
                        }
                    }
                }

                // lane
                Lane lane = laneService.search(node.getCodeData());
                if (null != lane) {
                    Set<String> lanVehicleSet = new HashSet<>();
                if (pointOfTurn) {
                    Lane lane = laneService.search(node.getCodeData());
                    if (null != lane) {
                        Set<String> lanVehicleSet = new HashSet<>();

                    List<String> laneCodes = lane.getCodes();
                    for (String laneCodeData : laneCodes) {
                        int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                        // scan dynamicMatrix or WaveMatrix
                        DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[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);
                        for (String laneCodeData : lane.getCodes()) {
                            // overlap with sponsor
                            if (avoidPathList.contains(laneCodeData)) {
                                lanVehicleSet.add(sponsor);
                            }

                            int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                            // scan dynamicMatrix or WaveMatrix
                            DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[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;
                        if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                            phaseSecond = false;    // there is a way to go
                            continue;
                        }
                        if (lanVehicleSet.contains(sponsor)) {
                            weight += WEIGHT_CALC_FACTOR * 2;
                        }
                    }
                }

@@ -159,7 +172,7 @@
        }


        if (null == finialNode) {
        if (null == finialNode && phaseSecond) {
//            assert openQueue.size() == 0;

            existNodes.clear();
@@ -168,7 +181,8 @@

            RetreatNavigateNode availablePointOfTurn = null;
            List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
            int actuallyLanesOfTurn = 0;
            int actualLanesOfTurn = 0;
            int filterPointOfTurnTimes = 0;

            while (openQueue.size() > 0 && null == finialNode) {

@@ -176,51 +190,54 @@
                List<RetreatNavigateNode> enableNodes = new ArrayList<>();

                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
                boolean pointOfTurn = false;
                if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
                    pointOfTurn = true;
                }

                // 计算是否为可用转弯点
                if (pointOfTurn) {
                    for (RetreatNavigateNode node : neighborNodes) {
                        // lane
                        Lane lane = laneService.search(node.getCodeData());
                        if (null != lane) {
                            Set<String> lanVehicleSet = new HashSet<>();
                // 第一步：获取有效转弯点
                if (null == availablePointOfTurn) {
                    // 计算是否为可用转弯点
                    if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
                        filterPointOfTurnTimes ++;
                        if (filterPointOfTurnTimes > 2) { break; }

                            List<String> laneCodes = lane.getCodes();
                            for (String laneCodeData : laneCodes) {
                                int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                                // scan dynamicMatrix or WaveMatrix
                                DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[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);
                        for (RetreatNavigateNode node : neighborNodes) {
                            // lane
                            Lane lane = laneService.search(node.getCodeData());
                            if (null != lane) {
                                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]];
                                    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;
                                }
                            }

                            if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                                continue;
                            }
                            actualLanesOfTurn ++;
                        }

                        actuallyLanesOfTurn ++;
                        // 有两条以上可走巷道，则视为有效转弯点
                        if (actualLanesOfTurn >= 2) {
                            availablePointOfTurn = currentNode;
                            availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                        } else {
                            actualLanesOfTurn = 0;
                        }
                    }

                    if (actuallyLanesOfTurn >= 2) {
                        availablePointOfTurn = currentNode;
                        availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                    }

                }


                // 延伸转弯点巷道
                label: for (RetreatNavigateNode node : neighborNodes) {
                    int weight = 0;

@@ -236,13 +253,12 @@
                            }
                            if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {

                                if (null != availablePointOfTurn && actuallyLanesOfTurn > 0) {
                                    actuallyLanesOfTurn --;
                                if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
                                    actualLanesOfTurn --;
                                }

                                continue label;
                            } else {
                                weight += WEIGHT_CALC_COEFFICIENT;
                                weight += WEIGHT_CALC_FACTOR;
                            }
                        }
                    }
@@ -260,10 +276,12 @@
                    existNodes.add(node);
                }


                if (!Cools.isEmpty(enableNodes)) {

                    if (actuallyLanesOfTurn >= 2) {
                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);