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/astart/AStarNavigateService.java | 132 ++++++++++++-------------------------------
1 files changed, 37 insertions(+), 95 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 cfd22a3..46501c0 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
@@ -1,12 +1,13 @@
package com.zy.acs.manager.core.service.astart;
+import com.zy.acs.common.constant.RedisConstant;
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.domain.Lane;
-import com.zy.acs.manager.core.domain.type.BlockSeverityType;
import com.zy.acs.manager.core.service.LaneService;
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.Route;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.CodeService;
@@ -26,7 +27,7 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
+ public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.TRUE;
public static final int WEIGHT_CALC_FACTOR = 1;
@@ -44,14 +45,14 @@
private ConfigService configService;
public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
- , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {
+ , Boolean lock, List<String> blackList, Segment segment) {
if (start.getX() == end.getX() && start.getY() == end.getY()) {
return end;
}
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
PriorityQueue<NavigateNode> openQueue = new PriorityQueue<>();
- ArrayList<NavigateNode> existNodes = new ArrayList<>();
+ Set<NavigateNode> existNodes = new HashSet<>();
openQueue.add(start);
existNodes.add(start);
@@ -60,7 +61,7 @@
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
- while (openQueue.size() > 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
NavigateNode currentNode = openQueue.poll();
@@ -73,6 +74,14 @@
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()];
@@ -81,10 +90,13 @@
if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!vehicle.equals(agvNo)) {
- // 瀛樺湪杞﹁締锛屼笖涓哄凡缁忛伩璁╃殑杞︼紝鍒欐潈閲嶅�煎鍔�
+ // 濡傛灉瀛樺湪杞﹁締锛屽垯澧炲姞鏉冮噸 2 鎴栬�� 3锛屽洜涓烘嫄鐐逛細澧炲姞鏉冮噸 1
+ // 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;
+ weight += (WEIGHT_CALC_FACTOR * 3);
+ } else {
+ weight += (WEIGHT_CALC_FACTOR * 2);
}
}
@@ -130,9 +142,6 @@
}
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
-// if (lock) {
-// continue;
-// }
continue;
}
}
@@ -146,7 +155,11 @@
}
// G + H + T (瀵瑰惎鍙戝嚱鏁板鍔犲幓鎷愮偣鏂规calcNodeTurnCost)
- int gCost = calcNodeCost(currentNode, node) * (OPEN_TURN_COST_WEIGHT ? calcNodeTurnCost(currentNode, node, end) : 1);
+ int gCost = calcNodeCost(currentNode, node);
+
+ if (OPEN_TURN_COST_WEIGHT) {
+ gCost += calcNodeTurnCost(currentNode, node, end);
+ }
//杩涜璁＄畻瀵� G, F, H 绛夊��
node.setWeight(weight);
@@ -164,7 +177,7 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, List<NavigateNode> existNodes) {
+ private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
//鑾峰彇褰撳墠缁撶偣鐨剎, y
int x = currentNode.getX();
int y = currentNode.getY();
@@ -172,29 +185,29 @@
ArrayList<NavigateNode> neighbourNodes = new ArrayList<>();
NavigateNode rightNode = extendNeighborNodes(currentNode, new NavigateNode(x, y + 1), mapMatrix, existNodes, null, null);
- if (is_valid(currentNode, rightNode, mapMatrix, existNodes)) {
+ if (null != rightNode) {
neighbourNodes.add(rightNode);
}
NavigateNode leftNode = extendNeighborNodes(currentNode, new NavigateNode(x, y - 1), mapMatrix, existNodes, null, null);
- if (is_valid(currentNode, leftNode, mapMatrix, existNodes)) {
+ if (null != leftNode) {
neighbourNodes.add(leftNode);
}
NavigateNode topNode = extendNeighborNodes(currentNode, new NavigateNode(x - 1, y), mapMatrix, existNodes, null, null);
- if (is_valid(currentNode, topNode, mapMatrix, existNodes)) {
+ if (null != topNode) {
neighbourNodes.add(topNode);
}
NavigateNode bottomNode = extendNeighborNodes(currentNode, new NavigateNode(x + 1, y), mapMatrix, existNodes, null, null);
- if (is_valid(currentNode, bottomNode, mapMatrix, existNodes)) {
+ if (null != bottomNode) {
neighbourNodes.add(bottomNode);
}
return neighbourNodes;
}
- private NavigateNode extendNeighborNodes(NavigateNode currentNode, NavigateNode extendNode, int[][] mapMatrix, List<NavigateNode> existNodes, Integer dx, Integer dy) {
+ private NavigateNode extendNeighborNodes(NavigateNode currentNode, NavigateNode extendNode, int[][] mapMatrix, Set<NavigateNode> existNodes, Integer dx, Integer dy) {
NavigateNode nextNode = null;
if (null == dx || null == dy) {
@@ -219,7 +232,7 @@
} else {
- if (isExist(nextNode, existNodes)) {
+ if (existNodes.contains(nextNode)) {
return null;
}
@@ -234,11 +247,9 @@
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;
}
@@ -246,74 +257,10 @@
}
}
- private boolean is_valid(NavigateNode currentNode, NavigateNode node, int[][] mapMatrix, List<NavigateNode> existNodes) {
- if (null == node) {
- return false;
- }
-// int x = node.getX();
-// int y = node.getY();
-// if (x < 0 || x >= mapMatrix.length
-// || y < 0 || y >= mapMatrix[0].length) {
-// return false;
-// }
-//
-// // 濡傛灉缁撶偣鐨勪綅缃皬浜�0锛屽垯涓嶅悎娉�
-// if (mapMatrix[x][y] < 0) return false;
-//
-// if (is_exist(node, existNodes)) {
-// return false;
-// }
-//
-// // 鍒ゆ柇閫氳繃鎬�
-// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
-// String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
-// String nextNodeCodeData = codeMatrix[node.getX()][node.getY()];
-// node.setCodeData(nextNodeCodeData);
-//
-// Route route = routeService.findByCodeOfBoth(
-// codeService.selectByData(currentNodeCodeData).getId(),
-// codeService.selectByData(nextNodeCodeData).getId()
-// );
-// if (null == route) {
-// return false;
-// }
-
- return true;
- }
-
-// private boolean is_exist(NavigateNode node, List<NavigateNode> existNodes) {
-// for (NavigateNode exist_node : existNodes) {
-// if (node.getX() == exist_node.getX() && node.getY() == exist_node.getY()) {
-// return true;
-// }
-// }
-// return false;
-// }
-
- private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) {
- for (NavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
- }
-
- private boolean isSame(NavigateNode o1, NavigateNode o2) {
- if (Cools.isEmpty(o1, o2)) {
- return false;
- }
- return o1.getX() == o2.getX() && o1.getY() == o2.getY();
- }
-
//------------------A*鍚彂鍑芥暟------------------//
//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());
}
@@ -324,21 +271,16 @@
|| nextNode.getX() == currNode.getParent().getX()
|| nextNode.getY() == currNode.getParent().getY()
) {
- return 1;
+ return 0;
}
// 鎷愬悜缁堢偣鐨勭偣
if (nextNode.getX() == endNode.getX() || nextNode.getY() == endNode.getY()) {
- return 2;
+ return 1;
}
// 鏅�氭嫄鐐�
- /*
- 鎷愮偣鍒ゆ柇閫昏緫
- 鎷垮埌鐖惰妭鐐瑰拰涓嬩竴鑺傜偣
- 閫氳繃鍒ゆ柇鐖惰妭鐐瑰拰涓嬩竴鑺傜偣鐨剎鏁版嵁鍜寉鏁版嵁閮戒笉鐩稿悓鏃讹紝鍒欒〃鏄庡綋鍓嶅潗鏍囨槸涓�涓嫄鐐�
- */
- return 3;
+ return 1;
}
}
--
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