#

vincentlu

2 天以前 7ce12b33107fb33941df7e1589bf1a6716539377

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

@@ -5,10 +5,10 @@
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.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.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Segment;
@@ -45,15 +45,19 @@
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;
    private LaneBuilder laneBuilder;
    @Autowired
    private ConfigService configService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private JamService jamService;
    @Autowired
    private AgvAreaDispatcher agvAreaDispatcher;

    /**
     * agvNo: 阻塞AGV，挡道者
     * sponsor： 被阻塞AGV，寻址发起者
     * avoidPathList ===>>  [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
     **/
//    @SuppressWarnings("all")
@@ -64,11 +68,23 @@
        Integer lev = null;
        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);

        // scope code area: 4ms
        Long agvId = agvService.getAgvId(agvNo);
        Boolean withinArea = agvAreaDispatcher.isAgvExistsInAnyArea(agvId);
        List<String> scopeCodeList = new ArrayList<>();
        if (withinArea) {
            scopeCodeList = agvAreaDispatcher.getCodesByAgvId(agvId);
            if (!Cools.isEmpty(scopeCodeList) && !scopeCodeList.contains(start.getCodeData())) {
                withinArea = false;
            }
        }

        String breakPoint = avoidPathList.stream().findFirst().orElse(null);
        List<String> blackList = Utils.singletonList(sponsor);

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
        AgvModel sponsorModel = agvModelService.getByAgvNo(sponsor);
        double avoidDistance = MapDataUtils.buildFootprint(agvModel).maxExtent() + MapDataUtils.buildFootprint(sponsorModel).maxExtent();
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
@@ -96,6 +112,11 @@
            label: for (RetreatNavigateNode node : neighborNodes) {
                if (node.getCodeData().equals(breakPoint)) { continue; }

                if (withinArea) {
                    assert !Cools.isEmpty(scopeCodeList);
                    if (!scopeCodeList.contains(node.getCodeData())) { continue; }
                }

                int weight = 0;

                // wave
@@ -119,7 +140,7 @@

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

@@ -150,7 +171,7 @@

                }

                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
@@ -217,7 +238,7 @@

                        for (RetreatNavigateNode node : neighborNodes) {
                            // lane
                            List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                            List<int[]> laneCodeIdxList = laneBuilder.getLaneCodeIdxList(node.getCodeData());
                            if (!Cools.isEmpty(laneCodeIdxList)) {
                                Set<String> lanVehicleSet = new HashSet<>();