#

vincentlu

4 分钟以前 17420fde727bc00f123b332335df8e37e3871226

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

@@ -3,11 +3,13 @@
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.service.LaneService;
import com.zy.acs.manager.core.service.AgvAreaDispatcher;
import com.zy.acs.manager.core.service.LaneBuilder;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
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.Segment;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -37,15 +39,31 @@
    @Autowired
    private JamService jamService;
    @Autowired
    private LaneService laneService;
    private LaneBuilder laneBuilder;
    @Autowired
    private ConfigService configService;
    @Autowired
    private AgvAreaDispatcher agvAreaDispatcher;
    @Autowired
    private AgvService agvService;

    public synchronized AStarNavigateNode execute(String agvNo, AStarNavigateNode start, AStarNavigateNode end
            , Boolean lock, List<String> blackList, Segment segment) {
        if (start.getX() == end.getX() && start.getY() == end.getY()) {
            return end;
        }

        // 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;
            }
        }

        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);

        PriorityQueue<AStarNavigateNode> openQueue = new PriorityQueue<>();
@@ -66,9 +84,6 @@
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);

        long getNeighborNodesTime = 0;
        int getNeighborNodesCount = 0;

        while (!openQueue.isEmpty()) {
            // 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
            AStarNavigateNode currentNode = openQueue.poll();
@@ -80,10 +95,13 @@
            }
            long currentTime = System.currentTimeMillis();
            List<AStarNavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
            getNeighborNodesTime += System.currentTimeMillis() - currentTime;
            getNeighborNodesCount ++;
            for (AStarNavigateNode node : neighbourNodes) {
                node.setCodeData(codeMatrix[node.getX()][node.getY()]);

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

                boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();

@@ -138,7 +156,7 @@
                }

                // 单巷道车辆容载数量
                List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                List<int[]> laneCodeIdxList = laneBuilder.getLaneCodeIdxList(node.getCodeData());
                if (!Cools.isEmpty(laneCodeIdxList)) {
                    Set<String> lanVehicleSet = new HashSet<>();