#

luxiaotao1123

2024-11-26 80d8b0ed5a43ba329c31b557fff81eceb42b022c

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

@@ -4,6 +4,7 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.type.BlockSeverityType;
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;
@@ -43,7 +44,7 @@
    private ConfigService configService;

    public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
            , Boolean lock, List<String> blackList, Segment segment) {
            , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {
        if (start.getX() == end.getX() && start.getY() == end.getY()) {
            return end;
        }
@@ -59,32 +60,15 @@
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);

//        List<String> included = new ArrayList<>();
//        if (!Cools.isEmpty(whiteList)) {
//            included.addAll(whiteList);
//        }
//        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
            NavigateNode currentNode = openQueue.poll();
            // 对当前结点进行扩展，得到一个四周结点的数组

            ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
            // 对这个结点遍历，看是否有目标结点出现
            label: for (NavigateNode node : neighbourNodes) {
            for (NavigateNode node : neighbourNodes) {
                boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();

                int weight = 0;
                // 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;
//                        }
//                    }
//                }

                if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
                    continue;
@@ -155,7 +139,7 @@


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