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