From 434e0ff84a7df875f223e9118f244e04f28310ca Mon Sep 17 00:00:00 2001
From: jianghaiyue <jianghaiyue@zkyt.com>
Date: 星期二, 04 十一月 2025 14:38:56 +0800
Subject: [PATCH] 优化更新
---
algo-zkd/src/main/java/com/algo/service/PathPlanningService.java | 32 +++++++++++++++++++++-----------
1 files changed, 21 insertions(+), 11 deletions(-)
diff --git a/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java b/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
index 7ea0de9..61d625d 100644
--- a/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
+++ b/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
@@ -103,8 +103,16 @@
this.taskExtractor = new ExecutingTaskExtractor(envDataConfig.getPathMapping(), taskList);
long startTime = System.currentTimeMillis();
+ long unifiedTimestamp = startTime / 1000; // 缁熶竴鏃堕棿鎴筹紙绉掞級
System.out.println("寮�濮嬩负 " + agvStatusList.size() + " 涓狢TU瑙勫垝");
+ System.out.println("缁熶竴鏃堕棿鍩哄噯: " + unifiedTimestamp + "绉� (" + new Date(startTime) + ")");
+
+ // 缁熻鏁呴殰杞︽暟閲�
+ long faultyCount = agvStatusList.stream().filter(agv -> agv.getError() == 1).count();
+ if (faultyCount > 0) {
+ System.out.println("妫�娴嬪埌 " + faultyCount + " 涓晠闅滆溅(error=1)锛屽皢鍦ㄦ椂绌鸿〃涓崰鎹綅缃�");
+ }
// 1. 鏋勫缓鐜版湁鍓╀綑璺緞鐨勬椂绌哄崰鐢ㄨ〃
System.out.println("姝ラ1: 鏋勫缓鏃剁┖鍗犵敤琛�");
@@ -413,21 +421,23 @@
List<double[]> constraints,
Map<String, String> occupancyMap,
AGVStatus agvStatus) {
- // 灏濊瘯鍩烘湰璺緞瑙勫垝
- PlannedPath basicPath = pathPlanner.planPath(startPos, endPos, constraints);
- if (basicPath == null) {
+ // 甯︽椂绌哄崰鐢ㄨ〃鐨勮矾寰勮鍒�
+ PlannedPath spacetimePath = ((AStarPathPlanner)pathPlanner).planSpaceTimePath(
+ startPos,
+ endPos,
+ constraints,
+ occupancyMap,
+ agvStatus.getPhysicalConfig()
+ );
+
+ if (spacetimePath == null) {
return null;
}
- // 鎵惧埌瀹夊叏鐨勮捣濮嬫椂闂�
- long safeStartTime = remainingPathProcessor.findSafeStartTime(
- basicPath, occupancyMap, agvStatus.getPhysicalConfig()
- );
+ long startTime = System.currentTimeMillis();
+ timeCalculator.calculatePathTiming(spacetimePath, startTime, agvStatus.getPhysicalConfig(), 0.0);
- // 浣跨敤缁熶竴鐨勬椂闂磋绠楀櫒璁剧疆绮剧‘鐨勬椂闂翠俊鎭�
- timeCalculator.calculatePathTiming(basicPath, safeStartTime, agvStatus.getPhysicalConfig(), 0.0);
-
- return basicPath;
+ return spacetimePath;
}
/**
--
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