From 2bdbfd1ac24d4e9a87daf6fb8b99ec32264d5752 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 21 十二月 2024 11:25:27 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 65 ++++++++++++++++++--------------
1 files changed, 37 insertions(+), 28 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
index 6d89a53..1583ceb 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
@@ -1,5 +1,7 @@
package com.zy.acs.manager.core.service;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
@@ -8,12 +10,13 @@
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.service.astart.*;
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.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Route;
-import com.zy.acs.manager.manager.service.AgvModelService;
-import com.zy.acs.manager.manager.service.AgvService;
-import com.zy.acs.manager.manager.service.CodeService;
-import com.zy.acs.manager.manager.service.RouteService;
+import com.zy.acs.manager.manager.entity.Segment;
+import com.zy.acs.manager.manager.enums.JamStateType;
+import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -49,6 +52,10 @@
private LaneService laneService;
@Autowired
private ConfigService configService;
+ @Autowired
+ private SegmentService segmentService;
+ @Autowired
+ private JamService jamService;
/**
* avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -65,7 +72,7 @@
List<String> blackList = Utils.singletonList(sponsor);
Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
- , MapDataConstant.IDLE_DISTANCE_COE);
+ , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
@@ -75,13 +82,13 @@
RetreatNavigateNode finialNode = null;
PriorityQueue<RetreatNavigateNode> openQueue = new PriorityQueue<>();
- ArrayList<RetreatNavigateNode> existNodes = new ArrayList<>();
+ Set<RetreatNavigateNode> existNodes = new HashSet<>();
openQueue.add(start);
existNodes.add(start);
boolean phaseSecond = true;
- while (openQueue.size() > 0 && null == finialNode) {
+ while (!openQueue.isEmpty() && null == finialNode) {
RetreatNavigateNode currentNode = openQueue.poll();
@@ -91,6 +98,7 @@
boolean pointOfTurn = neighborNodes.size() >= 2;
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
+ Code code = codeService.selectByData(node.getCodeData());
int weight = 0;
@@ -105,7 +113,7 @@
continue label;
}
if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
- phaseSecond = false; // there is a way to go
+ phaseSecond = false; // there is a running way
continue label;
} else {
weight += WEIGHT_CALC_FACTOR;
@@ -139,12 +147,25 @@
}
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
- phaseSecond = false; // there is a way to go
+ phaseSecond = false; // there is a running way
continue;
}
if (lanVehicleSet.contains(sponsor)) {
weight += WEIGHT_CALC_FACTOR * 2;
}
+ }
+ }
+
+ // judge whether the node has already been marked as a retreat node?
+ // This is a very troublesome matter, if the node be repeatedly mark as a retreat node
+ List<Segment> runningSegments = segmentService.getRunningByEndCode(code.getId());
+ for (Segment runningSeg : runningSegments) {
+ if (0 < jamService.count(new LambdaQueryWrapper<Jam>()
+ .eq(Jam::getAvoSeg, runningSeg.getId())
+ .ne(Jam::getState, JamStateType.DEPRECATED.toString()))) {
+ weight += WEIGHT_CALC_FACTOR * 3;
+ } else {
+ weight += WEIGHT_CALC_FACTOR;
}
}
@@ -184,7 +205,7 @@
int actualLanesOfTurn = 0;
int filterPointOfTurnTimes = 0;
- while (openQueue.size() > 0 && null == finialNode) {
+ while (!openQueue.isEmpty() && null == finialNode) {
RetreatNavigateNode currentNode = openQueue.poll();
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
@@ -296,7 +317,7 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, List<RetreatNavigateNode> existNodes) {
+ private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes) {
int x = currentNode.getX();
int y = currentNode.getY();
@@ -326,7 +347,7 @@
return neighbourNodes;
}
- private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, List<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
+ private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, Set<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
RetreatNavigateNode nextNode;
if (null == dx || null == dy) {
@@ -352,7 +373,7 @@
return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);
} else {
- if (this.isExist(nextNode, existNodes)) {
+ if (existNodes.contains(nextNode)) {
return null;
}
@@ -367,26 +388,14 @@
nextNode.setCodeData(nextNodeCodeData);
// 鍒ゆ柇閫氳繃鎬�
- Route route = routeService.findByCodeOfBoth(
- codeService.selectByData(currentNodeCodeData).getId(),
- codeService.selectByData(nextNodeCodeData).getId()
- );
- if (null == route) {
+ String routeKey = RouteGenerator.generateRouteKey(currentNodeCodeData, nextNodeCodeData);
+ Object routeVal = redis.getMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey);
+ if (routeVal == null || !(Boolean) routeVal) {
return null;
}
-
}
return nextNode;
- }
-
- private boolean isExist(RetreatNavigateNode node, List<RetreatNavigateNode> existNodes) {
- for (RetreatNavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
}
private boolean isSame(RetreatNavigateNode o1, RetreatNavigateNode o2) {
--
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