#

luxiaotao1123

2024-12-24 481c47f602eb0ec69d4f740f84680348f2d86b79

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

@@ -8,11 +8,8 @@
import com.zy.acs.manager.core.service.LaneService;
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.Route;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.manager.service.RouteService;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -31,10 +28,6 @@

    public static final int WEIGHT_CALC_FACTOR = 1;

    @Autowired
    private CodeService codeService;
    @Autowired
    private RouteService routeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
@@ -58,15 +51,16 @@
        existNodes.add(start);

        int[][] mapMatrix = mapDataDispatcher.getMapMatrix(null, null);
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);

        while (!openQueue.isEmpty()) {
            // 取优先队列顶部元素并且把这个元素从Open表中删除，取F值最小的节点
            NavigateNode currentNode = openQueue.poll();

            ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
            for (NavigateNode node : neighbourNodes) {
                node.setCodeData(codeMatrix[node.getX()][node.getY()]);
                boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();

                int weight = 0;
@@ -178,37 +172,28 @@

    // 获取四周节点
    private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
        //获取当前结点的x, y
        int x = currentNode.getX();
        int y = currentNode.getY();
        //如果当前结点的邻结点合法，就加入到neighbour_node

        ArrayList<NavigateNode> neighbourNodes = new ArrayList<>();

        NavigateNode rightNode = extendNeighborNodes(currentNode, new NavigateNode(x, y + 1), mapMatrix, existNodes, null, null);
        if (null != rightNode) {
            neighbourNodes.add(rightNode);
        }
        List<NavigateNode> possibleNodes = Arrays.asList(
                new NavigateNode(x, y + 1), // right
                new NavigateNode(x, y - 1), // left
                new NavigateNode(x - 1, y), // up
                new NavigateNode(x + 1, y)  // down
        );

        NavigateNode leftNode = extendNeighborNodes(currentNode, new NavigateNode(x, y - 1), mapMatrix, existNodes, null, null);
        if (null != leftNode) {
            neighbourNodes.add(leftNode);
        }

        NavigateNode topNode = extendNeighborNodes(currentNode, new NavigateNode(x - 1, y), mapMatrix, existNodes, null, null);
        if (null != topNode) {
            neighbourNodes.add(topNode);
        }

        NavigateNode bottomNode = extendNeighborNodes(currentNode, new NavigateNode(x + 1, y), mapMatrix, existNodes, null, null);
        if (null != bottomNode) {
            neighbourNodes.add(bottomNode);
        }
        possibleNodes.parallelStream()
                .map(extendNode -> extendNeighborNodes(currentNode, extendNode, mapMatrix, existNodes, null, null))
                .filter(Objects::nonNull)
                .forEach(neighbourNodes::add);

        return neighbourNodes;
    }

    private NavigateNode extendNeighborNodes(NavigateNode currentNode, NavigateNode extendNode, int[][] mapMatrix, Set<NavigateNode> existNodes, Integer dx, Integer dy) {
        NavigateNode nextNode = null;
        NavigateNode nextNode;

        if (null == dx || null == dy) {
            dx = extendNode.getX() - currentNode.getX();
@@ -229,32 +214,21 @@
        if (mapMatrix[x][y] == MapNodeType.DISABLE.val)  {

            return extendNeighborNodes(currentNode, nextNode, mapMatrix, existNodes, dx, dy);

        } else {

            if (existNodes.contains(nextNode)) {
                return null;
            }

            // 节点是否可用
            if (mapMatrix[x][y] != MapNodeType.ENABLE.val) {
                return null;
            }

            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
            String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
            String nextNodeCodeData = codeMatrix[nextNode.getX()][nextNode.getY()];
            nextNode.setCodeData(nextNodeCodeData);

            // 判断通过性
            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;
        }

        assert mapMatrix[x][y] == MapNodeType.ENABLE.val;

        if (existNodes.contains(nextNode)) {
            return null;
        }

        // 判断通过性
        String routeCdaKey = RouteGenerator.generateRouteCdaKey(new int[]{currentNode.getX(), currentNode.getY()}, new int[]{nextNode.getX(), nextNode.getY()});
        if (!mapDataDispatcher.validRouteCdaKey(routeCdaKey)) {
            return null;
        }

        return nextNode;
    }

    //------------------A*启发函数------------------//