From 642f20dd1b068e23146b8ec96c5eac8b63c96b87 Mon Sep 17 00:00:00 2001
From: jianghaiyue <jianghaiyue@zkyt.com>
Date: 星期三, 05 十一月 2025 18:18:25 +0800
Subject: [PATCH] 优化更新
---
algo-zkd/src/main/java/com/algo/service/PathPlanningService.java | 62 ++++++++++++++++++++++++++++---
1 files changed, 56 insertions(+), 6 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 1d93b85..54b0e54 100644
--- a/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
+++ b/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
@@ -170,7 +170,7 @@
System.out.println("姝ラ2: 澶勭悊鏈夊墿浣欒矾寰勭殑CTU");
for (AGVStatus agv : ctuWithRemainingPaths) {
- PlannedPath remainingPath = processRemainingPath(agv);
+ PlannedPath remainingPath = processRemainingPath(agv, unifiedTimestamp);
if (remainingPath != null) {
plannedPaths.add(remainingPath);
plannedAgvIds.put(agv.getAgvId(), "REMAINING_PATH");
@@ -299,6 +299,9 @@
// 7.5. 鏈�缁堥伩璁╂鏌�
performFinalYieldingCheck(agvStatusList, plannedPaths, plannedAgvIds, spaceTimeOccupancyMap, constraints, unifiedTimestamp);
+ // 7.6. 閲嶆柊璁＄畻鎵�鏈夎矾寰勭殑鏃堕棿鎴�
+ recalculateAllPathTimings(plannedPaths, agvStatusList, unifiedTimestamp);
+
// 8. 鏈�缁堢鎾炴娴嬪拰瑙ｅ喅
System.out.println("姝ラ6: 鏈�缁堢鎾炴娴�");
List<Conflict> conflicts = collisionDetector.detectConflicts(plannedPaths);
@@ -341,9 +344,10 @@
* 澶勭悊CTU鐨勫墿浣欒矾寰�
*
* @param agv CTU鐘舵��
+ * @param unifiedTimestamp 缁熶竴鏃堕棿鎴筹紙绉掞級
* @return 澶勭悊鍚庣殑璺緞
*/
- private PlannedPath processRemainingPath(AGVStatus agv) {
+ private PlannedPath processRemainingPath(AGVStatus agv, long unifiedTimestamp) {
if (!agv.hasRemainingPath()) {
return null;
}
@@ -376,8 +380,8 @@
processedPath.setSegId(segId);
if (timeCalculator != null && !remainingCodes.isEmpty()) {
- // 鑾峰彇AGV鐨勪笅涓�涓矾寰勭偣鍒拌揪鏃堕棿浣滀负璧峰鏃堕棿
- long startTime = agv.getNextPointArrivalTime();
+ // 浣跨敤缁熶竴鏃堕棿鎴充綔涓鸿捣濮嬫椂闂达紙杞崲涓烘绉掞級
+ long startTime = unifiedTimestamp * 1000;
CTUPhysicalConfig config = agv.getPhysicalConfig();
@@ -619,7 +623,6 @@
return;
}
- String actionType = "2"; // 浠诲姟绫诲瀷
String taskId = task.getTaskId();
int backpackLevel = task.getBackpackIndex();
@@ -627,20 +630,23 @@
PathCode pathCode = codeList.get(i);
// 璁剧疆鍩烘湰淇℃伅
- pathCode.setActionType(actionType);
pathCode.setTaskId(taskId);
pathCode.setLev(backpackLevel);
// 璁剧疆鐩爣鐐逛俊鎭�
if (i == codeList.size() - 1) { // 鏈�鍚庝竴涓偣
pathCode.setTargetPoint(true);
+ // 鏍规嵁浠诲姟绫诲瀷璁剧疆actionType鍜宲osType锛�
if (task.isLoaded()) {
+ pathCode.setActionType("2"); // 鏀捐揣
pathCode.setPosType("2"); // 鏀捐揣
} else {
+ pathCode.setActionType("1"); // 鍙栬揣
pathCode.setPosType("1"); // 鍙栬揣
}
} else {
pathCode.setTargetPoint(false);
+ pathCode.setActionType(null);
pathCode.setPosType(null);
}
}
@@ -796,6 +802,50 @@
}
}
+ private void recalculateAllPathTimings(List<PlannedPath> plannedPaths,
+ List<AGVStatus> agvStatusList,
+ long unifiedTimestamp) {
+ if (plannedPaths == null || plannedPaths.isEmpty() || timeCalculator == null) {
+ return;
+ }
+
+ Map<String, AGVStatus> agvStatusMap = new HashMap<>();
+ for (AGVStatus agv : agvStatusList) {
+ if (agv.getAgvId() != null) {
+ agvStatusMap.put(agv.getAgvId(), agv);
+ }
+ }
+
+ long startTimeMs = unifiedTimestamp * 1000;
+ int recalculatedCount = 0;
+
+ // 閬嶅巻鎵�鏈夎矾寰勶紝閲嶆柊璁＄畻鏃堕棿鎴�
+ for (PlannedPath path : plannedPaths) {
+ if (path == null || path.getCodeList() == null || path.getCodeList().isEmpty()) {
+ continue;
+ }
+
+ String agvId = path.getAgvId();
+ if (agvId == null) {
+ continue;
+ }
+
+ // 鑾峰彇AGV鐨勭墿鐞嗛厤缃�
+ AGVStatus agvStatus = agvStatusMap.get(agvId);
+ CTUPhysicalConfig config = (agvStatus != null && agvStatus.getPhysicalConfig() != null)
+ ? agvStatus.getPhysicalConfig()
+ : new CTUPhysicalConfig();
+
+ double initialSpeed = 0.0;
+
+ // 閲嶆柊璁＄畻璺緞鏃堕棿鎴�
+ timeCalculator.calculatePathTiming(path, startTimeMs, config, initialSpeed);
+ recalculatedCount++;
+ }
+
+ System.out.println(" 宸查噸鏂拌绠� " + recalculatedCount + " 鏉¤矾寰勭殑鏃堕棿鎴筹紙缁熶竴鏃堕棿鍩哄噯: " + unifiedTimestamp + "绉掞級");
+ }
+
/**
* 璇嗗埆闇�瑕佽琛岀殑AGV
* 妫�鏌ョ┖闂睞GV鏄惁鍗犵敤浜嗗叾浠朅GV鍓╀綑璺緞涓婄殑浣嶇疆
--
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