#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

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

@@ -25,7 +25,7 @@

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
    public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.TRUE;

    public static final int WEIGHT_CALC_FACTOR = 1;

@@ -72,6 +72,14 @@
                if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
                    continue;
                }
                // 特殊情况，当blackList有且只有一个元素且为startNode时
                // 说明blackList已经知道当前导航起始点和目标点为相邻节点
                // 但是当前blackList的任务是不让系统走相邻的最短路径，所以才会有下面的判断和continue
                if (blackList.size() == 1 && blackList.get(0).equals(start.getCodeData())) {
                    if (isEndNode && currentNode.getCodeData().equals(start.getCodeData())) {
                        continue;
                    }
                }

                // 节点被占用
                DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
@@ -80,10 +88,13 @@
                if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
                    if (!vehicle.equals(agvNo)) {

                        // 存在车辆，且为已经避让的车，则权重值增加
                        // 如果存在车辆，则增加权重 2 或者 3，因为拐点会增加权重 1
                        // vehicle已经为当前segment做过了避让，且避让任务已完成，则权重值增加
                        if (null != segment) {
                            if (!Cools.isEmpty(jamService.getJamFromSegmentByAvo(segment, vehicle))) {
                                weight += WEIGHT_CALC_FACTOR;
                                weight += (WEIGHT_CALC_FACTOR * 3);
                            } else {
                                weight += (WEIGHT_CALC_FACTOR * 2);
                            }
                        }

@@ -142,7 +153,11 @@
                }

                // G + H + T (对启发函数增加去拐点方案calcNodeTurnCost)
                int gCost = calcNodeCost(currentNode, node) * (OPEN_TURN_COST_WEIGHT ? calcNodeTurnCost(currentNode, node, end) : 1);
                int gCost = calcNodeCost(currentNode, node);

                if (OPEN_TURN_COST_WEIGHT) {
                    gCost += calcNodeTurnCost(currentNode, node, end);
                }

                //进行计算对 G, F, H 等值
                node.setWeight(weight);
@@ -320,21 +335,16 @@
                || nextNode.getX() == currNode.getParent().getX()
                || nextNode.getY() == currNode.getParent().getY()
        ) {
            return 1;
            return 0;
        }

        // 拐向终点的点
        if (nextNode.getX() == endNode.getX() || nextNode.getY() == endNode.getY()) {
            return 2;
            return 1;
        }

        // 普通拐点
        /*
        拐点判断逻辑
        拿到父节点和下一节点
        通过判断父节点和下一节点的x数据和y数据都不相同时，则表明当前坐标是一个拐点
         */
        return 3;
        return 1;
    }

}