From 233ff9e9e82c67ac33695b479fd31df6ffb77b22 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 02 十二月 2024 15:44:30 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 68 +++++++++++++++++-----------------
1 files changed, 34 insertions(+), 34 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 adf32a6..7cbe7b0 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
@@ -7,8 +7,9 @@
import com.zy.acs.manager.core.service.LaneService;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.Route;
-import com.zy.acs.manager.manager.service.AgvService;
+import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.CodeService;
+import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.manager.service.RouteService;
import com.zy.acs.manager.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
@@ -26,6 +27,8 @@
public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
+ public static final int WEIGHT_CALC_FACTOR = 1;
+
@Autowired
private CodeService codeService;
@Autowired
@@ -33,14 +36,14 @@
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
- private AgvService agvService;
+ private JamService jamService;
@Autowired
private LaneService laneService;
@Autowired
private ConfigService configService;
public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
- , Boolean lock, List<String> blackList) {
+ , Boolean lock, List<String> blackList, Segment segment) {
if (start.getX() == end.getX() && start.getY() == end.getY()) {
return end;
}
@@ -56,32 +59,27 @@
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
-// List<String> included = new ArrayList<>();
-// if (!Cools.isEmpty(whiteList)) {
-// included.addAll(whiteList);
-// }
-// included.add(agvNo);
-// List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);
-
while (openQueue.size() > 0) {
// 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
NavigateNode currentNode = openQueue.poll();
- // 瀵瑰綋鍓嶇粨鐐硅繘琛屾墿灞曪紝寰楀埌涓�涓洓鍛ㄧ粨鐐圭殑鏁扮粍
- ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
- // 瀵硅繖涓粨鐐归亶鍘嗭紝鐪嬫槸鍚︽湁鐩爣缁撶偣鍑虹幇
- label: for (NavigateNode node : neighbourNodes) {
- // 鑺傜偣瀛樺湪鍏朵粬杞﹁締
-// for (VehicleDto vehicleDto : vehicleDtoList) {
-// if (node.getCodeData().equals(vehicleDto.getPosCode())) {
-// if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
-// continue label;
-// }
-// if (lock) {
-// continue label;
-// }
-// }
-// }
+ ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
+ for (NavigateNode node : neighbourNodes) {
+ boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
+
+ int weight = 0;
+
+ if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
+ continue;
+ }
+ // 鐗规畩鎯呭喌锛屽綋blackList鏈変笖鍙湁涓�涓厓绱犱笖涓簊tartNode鏃�
+ // 璇存槑blackList宸茬粡鐭ラ亾褰撳墠瀵艰埅璧峰鐐瑰拰鐩爣鐐逛负鐩搁偦鑺傜偣
+ // 浣嗘槸褰撳墠blackList鐨勪换鍔℃槸涓嶈绯荤粺璧扮浉閭荤殑鏈�鐭矾寰勶紝鎵�浠ユ墠浼氭湁涓嬮潰鐨勫垽鏂拰continue
+ if (blackList.size() == 1 && blackList.get(0).equals(start.getCodeData())) {
+ if (isEndNode && currentNode.getCodeData().equals(start.getCodeData())) {
+ continue;
+ }
+ }
// 鑺傜偣琚崰鐢�
DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
@@ -90,9 +88,13 @@
if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!vehicle.equals(agvNo)) {
- if (!Cools.isEmpty(blackList) && blackList.contains(vehicle)) {
- continue;
+ // vehicle宸茬粡涓哄綋鍓峴egment鍋氳繃浜嗛伩璁╋紝涓旈伩璁╀换鍔″凡瀹屾垚锛屽垯鏉冮噸鍊煎鍔�
+ if (null != segment) {
+ if (!Cools.isEmpty(jamService.getJamFromSegmentByAvo(segment, vehicle))) {
+ weight += WEIGHT_CALC_FACTOR;
+ }
}
+
if (lock) {
continue;
}
@@ -107,9 +109,6 @@
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
- continue;
- }
if (lock) {
continue;
@@ -138,16 +137,13 @@
}
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
-// if (lock) {
-// continue;
-// }
continue;
}
}
//鎵惧埌鐩爣缁撶偣灏辫繑鍥�
- if (node.getX() == end.getX() && node.getY() == end.getY()) {
+ if (isEndNode) {
//骞朵笖璁＄畻鍑篏锛� F锛� H绛夊��
node.initNode(currentNode, end);
return node;
@@ -157,6 +153,7 @@
int gCost = calcNodeCost(currentNode, node) * (OPEN_TURN_COST_WEIGHT ? calcNodeTurnCost(currentNode, node, end) : 1);
//杩涜璁＄畻瀵� G, F, H 绛夊��
+ node.setWeight(weight);
node.setLastDistance(gCost);
node.initNode(currentNode, end);
node.setH(calcNodeCost(node, end));
@@ -317,6 +314,9 @@
//璁＄畻閫氳繃鐜板湪鐨勭粨鐐圭殑浣嶇疆鍜屾渶缁堢粨鐐圭殑浣嶇疆璁＄畻H鍊�(鏇煎搱椤挎硶锛氬潗鏍囧垎鍒彇宸�肩浉鍔�)
private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
+// Code code1 = codeService.selectByData(node1.getCodeData());
+// Code code2 = codeService.selectByData(node2.getCodeData());
+// return (int) (Math.abs(code2.getX() - code1.getX()) + Math.abs(code2.getY() - code1.getY()));
return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
}
--
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