#

luxiaotao1123

2024-11-06 337746fee651f91e9c63bd1c33a474c236d51889

 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_COEFFICIENT = 10000;

    @Autowired
    private CodeService codeService;
@@ -168,7 +168,8 @@

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

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

@@ -181,14 +182,16 @@
                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; }

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

                                List<String> laneCodes = lane.getCodes();
                                for (String laneCodeData : laneCodes) {
                                for (String laneCodeData : lane.getCodes()) {
                                    int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                                    // scan dynamicMatrix or WaveMatrix
                                    DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
@@ -197,7 +200,7 @@
                                    if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                                        if (!laneVehicle.equals(agvNo)) {
                                            lanVehicleSet.add(laneVehicle);
    //                                redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
//                                            redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
                                        }
                                    }
                                }
@@ -207,14 +210,16 @@
                                }
                            }

                            actuallyLanesOfTurn ++;
                            actualLanesOfTurn ++;
                        }

                        // 有两条以上可走巷道，则视为有效转弯点
                        if (actuallyLanesOfTurn >= 2) {
                        if (actualLanesOfTurn >= 2) {
                            availablePointOfTurn = currentNode;
                            availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                        } else {
                            actualLanesOfTurn = 0;
                        }
                    }
                }
@@ -235,10 +240,9 @@
                            }
                            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;
@@ -259,10 +263,10 @@
                    existNodes.add(node);
                }

                if (actuallyLanesOfTurn < 2) {
                if (actualLanesOfTurn < 2) {
                    availablePointOfTurn = null;
                    availablePointWaveScopeOfTurn = new ArrayList<>();
                    actuallyLanesOfTurn = 0;
                    actualLanesOfTurn = 0;
                } else {
                    if (!Cools.isEmpty(enableNodes)) {
                        Collections.sort(enableNodes);