#

luxiaotao1123

2024-11-06 9c7a29e38f53ef2a854508c915306e031cefbabb

#

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

@@ -79,6 +79,7 @@

        openQueue.add(start);
        existNodes.add(start);
        boolean phaseSecond = true;

        while (openQueue.size() > 0 && null == finialNode) {

@@ -87,6 +88,7 @@
            List<RetreatNavigateNode> enableNodes = new ArrayList<>();

            ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
            boolean pointOfTurn = neighborNodes.size() >= 2;
            label: for (RetreatNavigateNode node : neighborNodes) {
                if (node.getCodeData().equals(breakPoint)) { continue; }

@@ -103,6 +105,7 @@
                            continue label;
                        }
                        if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                            phaseSecond = false;    // there is a way to go
                            continue label;
                        } else {
                            weight += WEIGHT_CALC_FACTOR;
@@ -111,27 +114,37 @@
                }

                // lane
                Lane lane = laneService.search(node.getCodeData());
                if (null != lane) {
                    Set<String> lanVehicleSet = new HashSet<>();
                if (pointOfTurn) {
                    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);
                        for (String laneCodeData : lane.getCodes()) {
                            // overlap with sponsor
                            if (avoidPathList.contains(laneCodeData)) {
                                lanVehicleSet.add(sponsor);
                            }

                            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) {
                            phaseSecond = false;    // there is a way to go
                            continue;
                        }
                        if (lanVehicleSet.contains(sponsor)) {
                            weight += WEIGHT_CALC_FACTOR * 2;
                        }
                    }
                }

@@ -159,7 +172,7 @@
        }


        if (null == finialNode) {
        if (null == finialNode && phaseSecond) {
//            assert openQueue.size() == 0;

            existNodes.clear();

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

@@ -150,7 +150,7 @@
                insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
                insertSeg.setState(SegmentStateType.WAITING.toString());
                if (!segmentService.save(insertSeg)) {
                    log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                    log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
                }
                segmentList.add(insertSeg);