From 1809dba25f489ea01c07a9ecc977d9f408545310 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期一, 05 一月 2026 09:41:49 +0800
Subject: [PATCH] 电压改电量
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 28 +++++++++++++++++++++++-----
1 files changed, 23 insertions(+), 5 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
index a7ea660..81d9679 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
@@ -3,11 +3,13 @@
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
+import com.zy.acs.manager.core.service.AgvAreaDispatcher;
import com.zy.acs.manager.core.service.LaneService;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Segment;
+import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -40,12 +42,28 @@
private LaneService laneService;
@Autowired
private ConfigService configService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
+ @Autowired
+ private AgvService agvService;
public synchronized AStarNavigateNode execute(String agvNo, AStarNavigateNode start, AStarNavigateNode end
, Boolean lock, List<String> blackList, Segment segment) {
if (start.getX() == end.getX() && start.getY() == end.getY()) {
return end;
}
+
+ // scope code area: 4ms
+ Long agvId = agvService.getAgvId(agvNo);
+ Boolean withinArea = agvAreaDispatcher.isAgvExistsInAnyArea(agvId);
+ List<String> scopeCodeList = new ArrayList<>();
+ if (withinArea) {
+ scopeCodeList = agvAreaDispatcher.getCodesByAgvId(agvId);
+ if (!Cools.isEmpty(scopeCodeList) && !scopeCodeList.contains(start.getCodeData())) {
+ withinArea = false;
+ }
+ }
+
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
PriorityQueue<AStarNavigateNode> openQueue = new PriorityQueue<>();
@@ -66,9 +84,6 @@
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
- long getNeighborNodesTime = 0;
- int getNeighborNodesCount = 0;
-
while (!openQueue.isEmpty()) {
// 鍙栦紭鍏堥槦鍒楅《閮ㄥ厓绱犲苟涓旀妸杩欎釜鍏冪礌浠嶰pen琛ㄤ腑鍒犻櫎锛屽彇F鍊兼渶灏忕殑鑺傜偣
AStarNavigateNode currentNode = openQueue.poll();
@@ -80,11 +95,14 @@
}
long currentTime = System.currentTimeMillis();
List<AStarNavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
- getNeighborNodesTime += System.currentTimeMillis() - currentTime;
- getNeighborNodesCount ++;
for (AStarNavigateNode node : neighbourNodes) {
node.setCodeData(codeMatrix[node.getX()][node.getY()]);
+ if (withinArea) {
+ assert !Cools.isEmpty(scopeCodeList);
+ if (!scopeCodeList.contains(node.getCodeData())) { continue; }
+ }
+
boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
int weight = 0;
--
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