#

luxiaotao1123

2024-12-21 2bdbfd1ac24d4e9a87daf6fb8b99ec32264d5752

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

@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
@@ -9,6 +10,7 @@
import com.zy.acs.manager.core.domain.Lane;
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;
@@ -80,13 +82,13 @@
        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();

@@ -203,7 +205,7 @@
            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<>();
@@ -315,7 +317,7 @@
    }

    // 获取四周节点
    private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, List<RetreatNavigateNode> existNodes) {
    private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes) {

        int x = currentNode.getX();
        int y = currentNode.getY();
@@ -345,7 +347,7 @@
        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) {
@@ -371,7 +373,7 @@
            return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);

        } else {
            if (this.isExist(nextNode, existNodes)) {
            if (existNodes.contains(nextNode)) {
                return null;
            }

@@ -386,26 +388,14 @@
            nextNode.setCodeData(nextNodeCodeData);

            // 判断通过性
            Route route = routeService.findByCodeOfBoth(
                    codeService.selectByData(currentNodeCodeData).getId(),
                    codeService.selectByData(nextNodeCodeData).getId()
            );
            if (null == route) {
            String routeKey = RouteGenerator.generateRouteKey(currentNodeCodeData, nextNodeCodeData);
            Object routeVal = redis.getMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey);
            if (routeVal == null || !(Boolean) routeVal) {
                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) {