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luxiaotao1123

2024-11-04 7f70cb15d035f0c233b9e62b9e43aa985317c908

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

@@ -2,13 +2,14 @@

import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.VehicleDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.service.LaneService;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.Route;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeGapService;
import com.zy.acs.manager.manager.service.CodeService;
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;

@@ -22,24 +23,27 @@
@Service
public class AStarNavigateService {

    public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;

    @Autowired
    private CodeService codeService;
    @Autowired
    private CodeGapService codeGapService;
    @Autowired
    private RouteService routeService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private AgvService agvService;

    public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
    @Autowired
    private LaneService laneService;
    @Autowired
    private ConfigService configService;

    public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
            , Boolean lock, List<String> whiteList, List<String> blackList) {
            , Boolean lock, List<String> blackList) {
        if (start.getX() == end.getX() && start.getY() == end.getY()) {
            return end;
        }
        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);

        PriorityQueue<NavigateNode> openQueue = new PriorityQueue<>();
        ArrayList<NavigateNode> existNodes = new ArrayList<>();
@@ -51,12 +55,12 @@
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);

        List<String> included = new ArrayList<>();
//        List<String> included = new ArrayList<>();
//        if (!Cools.isEmpty(whiteList)) {
//            included.addAll(whiteList);
//        }
        included.add(agvNo);
        List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);
//        included.add(agvNo);
//        List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);

        while (openQueue.size() > 0) {
            // 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
@@ -67,16 +71,16 @@
            label: for (NavigateNode node : neighbourNodes) {

                // 节点存在其他车辆
                for (VehicleDto vehicleDto : vehicleDtoList) {
                    if (node.getCodeData().equals(vehicleDto.getPosCode())) {
                        if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
                            continue label;
                        }
                        if (lock) {
                            continue label;
                        }
                    }
                }
//                for (VehicleDto vehicleDto : vehicleDtoList) {
//                    if (node.getCodeData().equals(vehicleDto.getPosCode())) {
//                        if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
//                            continue label;
//                        }
//                        if (lock) {
//                            continue label;
//                        }
//                    }
//                }

                // 节点被占用
                DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
@@ -102,7 +106,7 @@
                    List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);

                    if (!Cools.isEmpty(otherWaveList)) {
                        if (!Cools.isEmpty(blackList) && !Cools.isEmpty(MapDataUtils.hasIntersection(otherWaveList, blackList))) {
                        if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
                            continue;
                        }

@@ -112,6 +116,33 @@
                    }
                }

                // 单巷道车辆容载数量
                Lane lane = laneService.search(node.getCodeData());
                if (null != lane) {
                    int otherVehicleCount = 0;

                    List<String> laneCodes = lane.getCodes();
                    for (String laneCodeData : laneCodes) {
                        int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                        // scan dynamicMatrix or WaveMatrix
                        DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
                        String laneVehicle = laneDynamicNode.getVehicle();
                        assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                        if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                            if (!laneVehicle.equals(agvNo)) {
                                otherVehicleCount++;
                            }
                        }
                    }

                    if (otherVehicleCount + 1 > maxAgvCountInLane) {
                        if (lock) {
                            continue;
                        }
                    }
                }


                //找到目标结点就返回
                if (node.getX() == end.getX() && node.getY() == end.getY()) {
                    //并且计算出G， F， H等值