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luxiaotao1123

2024-12-23 766bcd63a19f7acaff2f5ed2cd1cb016894978ea

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

@@ -75,6 +75,7 @@
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);

@@ -94,11 +95,10 @@

            List<RetreatNavigateNode> enableNodes = new ArrayList<>();

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

                int weight = 0;

@@ -156,6 +156,8 @@
                    }
                }

                Code code = codeService.selectByData(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
                List<Segment> runningSegments = segmentService.getRunningByEndCode(code.getId());
@@ -210,7 +212,7 @@
                RetreatNavigateNode currentNode = openQueue.poll();
                List<RetreatNavigateNode> enableNodes = new ArrayList<>();

                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);

                // 第一步：获取有效转弯点
                if (null == availablePointOfTurn) {
@@ -317,32 +319,25 @@
    }

    // 获取四周节点
    private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes) {
    private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) {

        int x = currentNode.getX();
        int y = currentNode.getY();

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

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

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

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

        RetreatNavigateNode bottomNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x + 1, y), existNodes, null, null);
        if (null != bottomNode) {
            neighbourNodes.add(bottomNode);
        }
        possibleNodes.parallelStream()
                .map(extendNode -> extendNeighborNodes(currentNode, extendNode, existNodes, null, null))
                .filter(Objects::nonNull)
                .peek(node -> node.setCodeData(codeMatrix[node.getX()][node.getY()]))
                .forEach(neighbourNodes::add);

        return neighbourNodes;
    }
@@ -371,40 +366,21 @@
        if (mapMatrix[x][y] == MapNodeType.DISABLE.val)  {

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

        } else {
            if (existNodes.contains(nextNode)) {
                return null;
            }
        assert mapMatrix[x][y] == MapNodeType.ENABLE.val;

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

    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) {