From 368bc8d1f2b61543ef1b82d53568fbf1beb4dd39 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 02 十二月 2024 15:00:23 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 40 ++++++++++++++--------------------------
1 files changed, 14 insertions(+), 26 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 ce7c2ab..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
@@ -59,35 +59,26 @@
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) {
+ for (NavigateNode node : neighbourNodes) {
+ boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
+
int weight = 0;
- // 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;
-// }
-// }
-// }
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�
@@ -97,7 +88,7 @@
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�
+ // 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;
@@ -146,16 +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;
--
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