From 71f29001d7ec27a72b33143dc104abd34822268a Mon Sep 17 00:00:00 2001
From: jianghaiyue <jianghaiyue@zkyt.com>
Date: 星期二, 21 十月 2025 09:47:35 +0800
Subject: [PATCH] 更新了null值处理
---
algo-zkd/src/main/java/com/algo/service/CollisionDetector.java | 9 +++-
algo-zkd/src/main/java/com/algo/service/PathPlanningService.java | 45 ++++++++++++++++++----
algo-zkd/src/main/java/com/algo/service/RemainingPathProcessor.java | 14 +++++-
3 files changed, 54 insertions(+), 14 deletions(-)
diff --git a/algo-zkd/src/main/java/com/algo/service/CollisionDetector.java b/algo-zkd/src/main/java/com/algo/service/CollisionDetector.java
index 2e378c5..2398831 100644
--- a/algo-zkd/src/main/java/com/algo/service/CollisionDetector.java
+++ b/algo-zkd/src/main/java/com/algo/service/CollisionDetector.java
@@ -198,9 +198,12 @@
travelTime += (long) ((distance / speed) * 1000); // 杞崲涓烘绉�
// 濡傛灉鏈夋柟鍚戝彉鍖栵紝澧炲姞杞悜鏃堕棿
- if (!currentCode.getDirection().equals(previousCode.getDirection())) {
- double turnTime = calculateTurnTime(previousCode.getDirection(), currentCode.getDirection(), config);
- travelTime += (long) (turnTime * 1000);
+ // 娣诲姞null妫�鏌�
+ if (currentCode.getDirection() != null && previousCode.getDirection() != null) {
+ if (!currentCode.getDirection().equals(previousCode.getDirection())) {
+ double turnTime = calculateTurnTime(previousCode.getDirection(), currentCode.getDirection(), config);
+ travelTime += (long) (turnTime * 1000);
+ }
}
// 鑰冭檻鍔犻�熷拰鍑忛�熸椂闂�
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 026b64b..705d554 100644
--- a/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
+++ b/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
@@ -4,7 +4,6 @@
import com.algo.model.*;
import com.algo.util.JsonUtils;
import com.algo.util.PathTimeCalculator;
-import lombok.Data;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -270,17 +269,45 @@
PlannedPath remainingPath = agv.getRemainingPath();
List<PathCode> remainingCodes = new ArrayList<>();
- // 浠庡綋鍓嶄綅缃紑濮嬶紝鑾峰彇鍓╀綑璺緞
+ // 鑾峰彇鍓╀綑璺緞
List<PathCode> originalCodes = remainingPath.getCodeList();
for (int i = agv.getCurrentPathIndex(); i < originalCodes.size(); i++) {
- remainingCodes.add(originalCodes.get(i));
+ PathCode originalCode = originalCodes.get(i);
+ PathCode newCode = new PathCode(originalCode.getCode(), originalCode.getDirection());
+ newCode.setActionType(originalCode.getActionType());
+ newCode.setTaskId(originalCode.getTaskId());
+ newCode.setPosType(originalCode.getPosType());
+ newCode.setLev(originalCode.getLev());
+ newCode.setTargetPoint(originalCode.isTargetPoint());
+ remainingCodes.add(newCode);
}
- // 鍒涘缓鏂扮殑璺緞瀵硅薄
PlannedPath processedPath = new PlannedPath();
processedPath.setAgvId(agv.getAgvId());
processedPath.setCodeList(remainingCodes);
processedPath.setSegId(agv.getAgvId() + "_REMAINING_" + System.currentTimeMillis());
+
+ 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();
+
+ CTUPhysicalConfig config = agv.getPhysicalConfig();
+
+ // 浼扮畻褰撳墠閫熷害锛圓GV绉诲姩涓负姝ｅ父閫熷害锛涢潤姝负0锛�
+ double initialSpeed = agv.hasRemainingPath() && agv.getRemainingPathLength() > 0
+ ? config.getNormalSpeed() : 0.0;
+
+ // 璁＄畻鏃堕棿淇℃伅
+ // arrivalTime, departureTime, cumulativeTime
+ timeCalculator.calculatePathTiming(
+ processedPath,
+ startTime,
+ config,
+ initialSpeed
+ );
+ } else {
+ System.out.println(" 鏈兘涓哄墿浣欒矾寰勮缃椂闂翠俊鎭� - AGV: " + agv.getAgvId());
+ }
return processedPath;
}
@@ -378,9 +405,12 @@
// 濡傛灉鏈夋柟鍚戝彉鍖栵紝澧炲姞杞悜鏃堕棿
PathCode nextCode = codeList.get(i + 1);
- if (!pathCode.getDirection().equals(nextCode.getDirection())) {
- double turnTime = config.getTurnTime(pathCode.getDirection(), nextCode.getDirection());
- currentTime += (long) (turnTime * 1000);
+ // 娣诲姞null妫�鏌�
+ if (pathCode.getDirection() != null && nextCode.getDirection() != null) {
+ if (!pathCode.getDirection().equals(nextCode.getDirection())) {
+ double turnTime = config.getTurnTime(pathCode.getDirection(), nextCode.getDirection());
+ currentTime += (long) (turnTime * 1000);
+ }
}
}
}
@@ -613,7 +643,6 @@
/**
* 璺緞瑙勫垝缁撴灉绫�
*/
- @Data
public static class PathPlanningResult {
private int totalAgvs;
private int executingTasksCount;
diff --git a/algo-zkd/src/main/java/com/algo/service/RemainingPathProcessor.java b/algo-zkd/src/main/java/com/algo/service/RemainingPathProcessor.java
index 0c411d6..a9e0085 100644
--- a/algo-zkd/src/main/java/com/algo/service/RemainingPathProcessor.java
+++ b/algo-zkd/src/main/java/com/algo/service/RemainingPathProcessor.java
@@ -193,8 +193,16 @@
String currentDirection = currentCode.getDirection();
String nextDirection = nextCode.getDirection();
- if (!currentDirection.equals(nextDirection)) {
- stayTime += config.getTurnTime(currentDirection, nextDirection);
+ if (currentDirection != null && nextDirection != null) {
+ if (!currentDirection.equals(nextDirection)) {
+ stayTime += config.getTurnTime(currentDirection, nextDirection);
+ }
+ } else {
+ if (pathIndex == agv.getCurrentPathIndex()) {
+ System.out.println("AGV " + agv.getAgvId() +
+ " 鐨勫墿浣欒矾寰勪腑direction瀛楁涓簄ull");
+ }
+ stayTime += 0.5;
}
}
@@ -208,7 +216,7 @@
stayTime += 2.0; // 鏀捐揣闇�瑕�2绉�
break;
case "3": // 鍏呯數
- stayTime += 10.0; // 鍏呯數鍋滈潬闇�瑕�10绉�
+ stayTime += 100.0; // 鍏呯數鍋滈潬
break;
default:
stayTime += 1.0; // 鍏朵粬鍔ㄤ綔闇�瑕�1绉�
--
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