From 8c1f46e9136937017f230b9c1a8c2c5748c1e5f6 Mon Sep 17 00:00:00 2001
From: jianghaiyue <jianghaiyue@zkyt.com>
Date: 星期二, 14 十月 2025 17:28:16 +0800
Subject: [PATCH] 优化处理静止AGV的位置占用
---
algo-zkd/src/main/java/com/algo/service/RemainingPathProcessor.java | 40 ++++++++++++++++++++++++++++++++++++++++
1 files changed, 40 insertions(+), 0 deletions(-)
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 15f7545..0c411d6 100644
--- a/algo-zkd/src/main/java/com/algo/service/RemainingPathProcessor.java
+++ b/algo-zkd/src/main/java/com/algo/service/RemainingPathProcessor.java
@@ -34,6 +34,7 @@
/**
* 澶勭悊鎵�鏈塁TU鐨勫墿浣欒矾寰勶紝鏋勫缓鏃剁┖鍗犵敤琛�
+ * 馃敡 淇锛氬悓鏃跺鐞嗘湁鍓╀綑璺緞鐨凙GV鍜岄潤姝GV鐨勫綋鍓嶄綅缃崰鐢�
*
* @param agvStatusList CTU鐘舵�佸垪琛�
* @return 鏃剁┖鍗犵敤琛紝key涓�"x,y,timeSlot"锛寁alue涓篊TU缂栧彿
@@ -43,12 +44,51 @@
for (AGVStatus agv : agvStatusList) {
if (agv.hasRemainingPath()) {
+ // 澶勭悊鏈夊墿浣欒矾寰勭殑AGV
processRemainingPathOccupancy(agv, occupancyMap);
+ } else if (agv.getPosition() != null && !agv.getPosition().isEmpty()) {
+ // 澶勭悊闈欐AGV鐨勫綋鍓嶄綅缃崰鐢�
+ processStaticAgvOccupancy(agv, occupancyMap);
}
}
return occupancyMap;
}
+
+ /**
+ * 澶勭悊闈欐AGV鐨勪綅缃崰鐢�
+ *
+ * @param agv CTU鐘舵��
+ * @param occupancyMap 鏃剁┖鍗犵敤琛�
+ */
+ private void processStaticAgvOccupancy(AGVStatus agv, Map<String, String> occupancyMap) {
+ String position = agv.getPosition();
+ if (position == null || position.isEmpty()) {
+ return;
+ }
+
+ // 鑾峰彇浣嶇疆鍧愭爣
+ int[] coord = JsonUtils.getCoordinate(position, pathMapping);
+ if (coord == null) {
+ return;
+ }
+
+ CTUPhysicalConfig config = agv.getPhysicalConfig();
+ long currentTime = System.currentTimeMillis() / 1000; // 杞崲涓虹
+
+ // 闈欐AGV鍗犵敤褰撳墠浣嶇疆鐨勯暱鏃堕棿娈碉紙鍋囪300绉掞級
+ long occupancyDuration = 300; // 300绉掔殑鍗犵敤鏃堕棿
+
+ for (long timeSlot = currentTime; timeSlot < currentTime + occupancyDuration; timeSlot++) {
+ String spaceTimeKey = coord[0] + "," + coord[1] + "," + timeSlot;
+ occupancyMap.put(spaceTimeKey, agv.getAgvId());
+
+ occupyAdjacentSpaces(coord, timeSlot, agv.getAgvId(), occupancyMap, config);
+ }
+
+ System.out.println(" 闈欐AGV " + agv.getAgvId() + " 鍗犵敤浣嶇疆 " + position +
+ " (鍧愭爣: " + coord[0] + "," + coord[1] + ") " );
+ }
/**
* 澶勭悊鍗曚釜CTU鐨勫墿浣欒矾寰勬椂绌哄崰鐢�
--
Gitblit v1.9.1