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luxiaotao1123

2024-11-04 875ad91b195c581c249aa3bc922aebb6210b5a24

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

@@ -176,51 +176,50 @@
                List<RetreatNavigateNode> enableNodes = new ArrayList<>();

                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
                boolean pointOfTurn = false;
                if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
                    pointOfTurn = true;
                }

                // 计算是否为可用转弯点
                if (pointOfTurn) {
                    for (RetreatNavigateNode node : neighborNodes) {
                        // lane
                        Lane lane = laneService.search(node.getCodeData());
                        if (null != lane) {
                            Set<String> lanVehicleSet = new HashSet<>();
                // 第一步：获取有效转弯点
                if (null == availablePointOfTurn) {
                    // 计算是否为可用转弯点
                    if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
                        for (RetreatNavigateNode node : neighborNodes) {
                            // lane
                            Lane lane = laneService.search(node.getCodeData());
                            if (null != lane) {
                                Set<String> lanVehicleSet = new HashSet<>();

                            List<String> laneCodes = lane.getCodes();
                            for (String laneCodeData : laneCodes) {
                                int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                                // scan dynamicMatrix or WaveMatrix
                                DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
                                String laneVehicle = laneDynamicNode.getVehicle();
                                assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                                if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                                    if (!laneVehicle.equals(agvNo)) {
                                        lanVehicleSet.add(laneVehicle);
//                                redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
                                List<String> laneCodes = lane.getCodes();
                                for (String laneCodeData : laneCodes) {
                                    int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
                                    // scan dynamicMatrix or WaveMatrix
                                    DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
                                    String laneVehicle = laneDynamicNode.getVehicle();
                                    assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                                    if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                                        if (!laneVehicle.equals(agvNo)) {
                                            lanVehicleSet.add(laneVehicle);
    //                                redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
                                        }
                                    }
                                }

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

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

                        actuallyLanesOfTurn ++;
                        // 有两条以上可走巷道，则视为有效转弯点
                        if (actuallyLanesOfTurn >= 2) {
                            availablePointOfTurn = currentNode;
                            availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                        }
                    }

                    if (actuallyLanesOfTurn >= 2) {
                        availablePointOfTurn = currentNode;
                        availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                    }

                }


                // 延伸转弯点巷道
                label: for (RetreatNavigateNode node : neighborNodes) {
                    int weight = 0;

@@ -260,10 +259,12 @@
                    existNodes.add(node);
                }


                if (!Cools.isEmpty(enableNodes)) {

                    if (actuallyLanesOfTurn >= 2) {
                if (actuallyLanesOfTurn < 2) {
                    availablePointOfTurn = null;
                    availablePointWaveScopeOfTurn = new ArrayList<>();
                    actuallyLanesOfTurn = 0;
                } else {
                    if (!Cools.isEmpty(enableNodes)) {
                        Collections.sort(enableNodes);
                        finialNode = enableNodes.stream().findFirst().orElse(null);
                        jam.setCycleAvo(1);