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luxiaotao1123

2024-11-16 bb3b18aa4627e24e3428f89c90b867bad5eb40f6

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

@@ -9,6 +9,7 @@
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.system.service.ConfigService;
@@ -40,15 +41,11 @@
    @Autowired
    private ActionService actionService;

    public List<String> checkoutPath(String agvNo, Code startCode, Code endCode, Boolean lock) {
        return this.checkoutPath(agvNo, startCode, endCode, lock, null);
    }

    /**
     * 寻址 ===>> A Star
     */
    public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
            , Boolean lock, List<String> blackList) {
            , Boolean lock, List<String> blackList, Segment segment) {

        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
        int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
@@ -56,7 +53,7 @@
        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);
        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());

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

@@ -200,16 +200,16 @@
        Date now = new Date();
        Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
        // judge avoid of jam
        List<Jam> unfinishedOriginJamByCurrAgv = jamService.hasUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
        List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
        List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);

        // 结果集
        List<String> pathList = new ArrayList<>();

        // 无障碍解
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath);
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
        // 避让解
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath);
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);

        if (!Cools.isEmpty(lockPathList) && // 存在避让解
            Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10

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

@@ -7,8 +7,9 @@
import com.zy.acs.manager.core.service.LaneService;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.Route;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.manager.service.RouteService;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
@@ -26,6 +27,8 @@

    public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;

    public static final int WEIGHT_CALC_FACTOR = 1;

    @Autowired
    private CodeService codeService;
    @Autowired
@@ -33,14 +36,14 @@
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private AgvService agvService;
    private JamService jamService;
    @Autowired
    private LaneService laneService;
    @Autowired
    private ConfigService configService;

    public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
            , Boolean lock, List<String> blackList) {
            , Boolean lock, List<String> blackList, Segment segment) {
        if (start.getX() == end.getX() && start.getY() == end.getY()) {
            return end;
        }
@@ -70,7 +73,7 @@
            ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
            // 对这个结点遍历，看是否有目标结点出现
            label: for (NavigateNode node : neighbourNodes) {

                int weight = 0;
                // 节点存在其他车辆
//                for (VehicleDto vehicleDto : vehicleDtoList) {
//                    if (node.getCodeData().equals(vehicleDto.getPosCode())) {
@@ -93,6 +96,13 @@
                assert !vehicle.equals(DynamicNodeType.BLOCK.val);
                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
                        if (null != segment) {
                            if (!Cools.isEmpty(jamService.getJamFromSegmentByAvo(segment, vehicle))) {
                                weight += WEIGHT_CALC_FACTOR;
                            }
                        }

                        if (lock) {
                            continue;
@@ -155,6 +165,7 @@
                int gCost = calcNodeCost(currentNode, node) * (OPEN_TURN_COST_WEIGHT ? calcNodeTurnCost(currentNode, node, end) : 1);

                //进行计算对 G, F, H 等值
                node.setWeight(weight);
                node.setLastDistance(gCost);
                node.initNode(currentNode, end);
                node.setH(calcNodeCost(node, end));
@@ -315,6 +326,9 @@

    //计算通过现在的结点的位置和最终结点的位置计算H值(曼哈顿法：坐标分别取差值相加)
    private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
//        Code code1 = codeService.selectByData(node1.getCodeData());
//        Code code2 = codeService.selectByData(node2.getCodeData());
//        return (int) (Math.abs(code2.getX() - code1.getX()) + Math.abs(code2.getY() - code1.getY()));

        return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
    }

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

@@ -26,6 +26,7 @@
    private String direction;   //行走方向
    private Integer lastDistance;   // 距离上个节点距离
    private Integer moveDistance;   // 总行走距离
    private Integer weight;        // G 权重

    private String codeData;

@@ -46,7 +47,9 @@
        this.parent = father;
        if (this.parent != null) {
            //走过的步数等于父节点走过的步数加一
            this.G = father.G + Optional.ofNullable(this.lastDistance).orElse(0);
            this.G = father.G
                    + Optional.ofNullable(this.lastDistance).orElse(0)
                    + Optional.ofNullable(this.weight).orElse(0);
        } else { //父节点为空代表它是第一个结点
            this.G = 0;
        }

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/JamMapper.java

@@ -10,4 +10,6 @@

    List<Jam> selectUnfinishedJamByAvo(@Param("avoAgv")Long avoAgv, @Param("currCode")Long currCode, @Param("currSeg")Long currSeg);

    List<Jam> selectJamFromSegmentByAvo(@Param("jamSeg")Long jamSeg, @Param("avoAgv")Long avoAgv);

}

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/JamService.java

@@ -2,6 +2,7 @@

import com.baomidou.mybatisplus.extension.service.IService;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;

import java.util.List;
@@ -10,10 +11,12 @@

    Jam getJam(Long agvId, Long jamCode, Long jamSeg);

    List<Jam> hasUnfinishedOriginJamByAvo(Long avoAgv, Long currCode, Long currSeg);
    List<Jam> getUnfinishedOriginJamByAvo(Long avoAgv, Long currCode, Long currSeg);

    Jam getCycleJam(Long jamAgv, Long jamSeg, String avoAgvNo);

    List<Jam> getJamFromSegmentByAvo(Segment jamSeg, String avoAgvNo);

    List<Jam> queryByAvoid(Long avoAgv, JamStateType jamState);

    Boolean checkIfFinish(Long avoAgv, String currCodeData);

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/JamServiceImpl.java

@@ -3,8 +3,10 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.mapper.JamMapper;
import com.zy.acs.manager.manager.service.AgvService;
@@ -45,7 +47,7 @@
     * 你的下一个segment是不是又会导致阻塞
     */
    @Override
    public List<Jam> hasUnfinishedOriginJamByAvo(Long avoAgv, Long currCode, Long currSeg) {
    public List<Jam> getUnfinishedOriginJamByAvo(Long avoAgv, Long currCode, Long currSeg) {
        return this.baseMapper.selectUnfinishedJamByAvo(avoAgv, null, null);
    }

@@ -65,6 +67,12 @@
    }

    @Override
    public List<Jam> getJamFromSegmentByAvo(Segment jamSeg, String avoAgvNo) {
        Agv avoAgv = agvService.selectByUuid(avoAgvNo);
        return this.baseMapper.selectJamFromSegmentByAvo(jamSeg.getId(), avoAgv.getId());
    }

    @Override
    public List<Jam> queryByAvoid(Long avoAgv, JamStateType jamState) {
        if (null == avoAgv) {
            return null;

 zy-acs-manager/src/main/resources/mapper/manager/JamMapper.xml

@@ -41,4 +41,16 @@
        </if>
    </select>

    <select id="selectJamFromSegmentByAvo" resultType="com.zy.acs.manager.manager.entity.Jam">
        SELECT
        mj.*
        FROM man_jam mj
        LEFT JOIN man_segment jam_seg ON mj.jam_seg = jam_seg.id
        LEFT JOIN man_segment avo_seg ON mj.avo_seg = avo_seg.id
        WHERE 1=1
        AND avo_seg.state NOT IN ('INIT', 'WAITING')
        AND mj.jam_seg = #{jamSeg}
        AND mj.avo_agv = #{avoAgv}
    </select>

</mapper>