#

luxiaotao1123

2024-11-27 da407d4525cd6ea211d952fc2fd96f5ba30510e8

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

@@ -4,7 +4,7 @@
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.type.BlockSeverityType;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
@@ -19,7 +19,9 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.*;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.stream.Collectors;

/**
@@ -46,7 +48,7 @@
     * 寻址 ===>> A Star
     */
    public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
            , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {
            , Boolean lock, List<String> blackList, Segment segment) {

        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
        int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
@@ -54,7 +56,7 @@
        NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
        NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());

        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment, blockSeverity);
        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);

        if (null == finishNode) {
            log.warn("{} 号AGV检索[{}] ===>> [{}]路径失败......", agvNo, startCode.getData(), endCode.getData());
@@ -78,7 +80,14 @@
//            navigateNode.setParent(null);
//        }

        return navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
        List<String> navigatePath = navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());

        // max count of steps
        if (navigatePath.size() > MapDataConstant.MAX_STEPS_SINGLE) {
            navigatePath = navigatePath.subList(0, MapDataConstant.MAX_STEPS_SINGLE);
        }

        return navigatePath;
    }

    /**