#

vincentlu

2025-03-18 4c9169967a879b54c04b0754ab9830a5a6baa708

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

@@ -1,19 +1,16 @@
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;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
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;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.service.*;
@@ -39,8 +36,6 @@

    @Autowired
    private CodeService codeService;
    @Autowired
    private RouteService routeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
@@ -72,7 +67,7 @@
        String breakPoint = avoidPathList.stream().findFirst().orElse(null);
        List<String> blackList = Utils.singletonList(sponsor);

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

@@ -113,7 +108,7 @@
                        if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                            continue label;
                        }
                        if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                        if (mapService.isWalkingByVehicle(lev, otherWave)) {
                            phaseSecond = false;    // there is a running way
                            continue label;
                        } else {
@@ -124,29 +119,26 @@

                // lane
                if (pointOfTurn) {
                    Lane lane = laneService.search(node.getCodeData());
                    if (null != lane) {
                    List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                    if (!Cools.isEmpty(laneCodeIdxList)) {
                        Set<String> lanVehicleSet = new HashSet<>();

                        for (String laneCodeData : lane.getCodes()) {
                        for (int[] codeMatrixIdx : laneCodeIdxList) {
                            // overlap with sponsor
                            String laneCodeData = codeMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
                            if (avoidPathList.contains(laneCodeData)) {
                                lanVehicleSet.add(sponsor);
                            }

                            int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                            // scan dynamicMatrix or WaveMatrix
                            DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
                            DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[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) {
                            phaseSecond = false;    // there is a running way
                            continue;
@@ -155,9 +147,10 @@
                            weight += WEIGHT_CALC_FACTOR * 2;
                        }
                    }

                }

                Code code = codeService.selectByData(node.getCodeData());
                Code code = codeService.getCacheByData(node.getCodeData());

                // judge whether the node has already been marked as a retreat node?
                // This is a very troublesome matter, if the node be repeatedly mark as a retreat node
@@ -224,24 +217,20 @@

                        for (RetreatNavigateNode node : neighborNodes) {
                            // lane
                            Lane lane = laneService.search(node.getCodeData());
                            if (null != lane) {
                            List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                            if (!Cools.isEmpty(laneCodeIdxList)) {
                                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]];
                                for (int[] codeMatrixIdx : laneCodeIdxList) {
                                    DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[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;
                                }
@@ -275,7 +264,7 @@
                            if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                                continue;
                            }
                            if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                            if (mapService.isWalkingByVehicle(lev, otherWave)) {

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