#

luxiaotao1123

2024-11-26 c7ac2c8bb899b0785daaa9f72a69581bdb93fef1

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

@@ -7,16 +7,15 @@
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.entity.Segment;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.JamService;
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;

import java.util.ArrayList;
import java.util.List;
import java.util.PriorityQueue;
import java.util.*;

/**
 * Created by vincent on 6/12/2024
@@ -28,6 +27,8 @@

    public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;

    public static final int WEIGHT_CALC_FACTOR = 1;

    @Autowired
    private CodeService codeService;
    @Autowired
@@ -35,14 +36,14 @@
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private AgvService agvService;
    private JamService jamService;
    @Autowired
    private LaneService laneService;
    @Autowired
    private ConfigService configService;

    public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
            , Boolean lock, List<String> blackList) {
            , Boolean lock, List<String> blackList, Segment segment) {
        if (start.getX() == end.getX() && start.getY() == end.getY()) {
            return end;
        }
@@ -58,32 +59,19 @@
        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) {

                // 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;
//                        }
//                    }
//                }
            ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
            for (NavigateNode node : neighbourNodes) {
                boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();

                int weight = 0;

                if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
                    continue;
                }

                // 节点被占用
                DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
@@ -92,9 +80,13 @@
                if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
                    if (!vehicle.equals(agvNo)) {

                        if (!Cools.isEmpty(blackList) && blackList.contains(vehicle)) {
                            continue;
                        // 存在车辆，且为已经避让的车，则权重值增加
                        if (null != segment) {
                            if (!Cools.isEmpty(jamService.getJamFromSegmentByAvo(segment, vehicle))) {
                                weight += WEIGHT_CALC_FACTOR;
                            }
                        }

                        if (lock) {
                            continue;
                        }
@@ -109,9 +101,6 @@
                    List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);

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

                        if (lock) {
                            continue;
@@ -122,7 +111,7 @@
                // 单巷道车辆容载数量
                Lane lane = laneService.search(node.getCodeData());
                if (null != lane) {
                    int otherVehicleCount = 0;
                    Set<String> lanVehicleSet = new HashSet<>();

                    List<String> laneCodes = lane.getCodes();
                    for (String laneCodeData : laneCodes) {
@@ -133,22 +122,20 @@
                        assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                        if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                            if (!laneVehicle.equals(agvNo)) {
                                otherVehicleCount++;
                                lanVehicleSet.add(laneVehicle);
//                                redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
                            }
                        }
                    }

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


                //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;
@@ -158,6 +145,7 @@
                int gCost = calcNodeCost(currentNode, node) * (OPEN_TURN_COST_WEIGHT ? calcNodeTurnCost(currentNode, node, end) : 1);

                //进行计算对 G, F, H 等值
                node.setWeight(weight);
                node.setLastDistance(gCost);
                node.initNode(currentNode, end);
                node.setH(calcNodeCost(node, end));
@@ -318,6 +306,9 @@

    //计算通过现在的结点的位置和最终结点的位置计算H值(曼哈顿法：坐标分别取差值相加)
    private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
//        Code code1 = codeService.selectByData(node1.getCodeData());
//        Code code2 = codeService.selectByData(node2.getCodeData());
//        return (int) (Math.abs(code2.getX() - code1.getX()) + Math.abs(code2.getY() - code1.getY()));

        return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
    }