From 3977a00d2934317e9ed9add9714adc959a514790 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 13 十一月 2024 08:13:35 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 21 ++++++++++++---------
1 files changed, 12 insertions(+), 9 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 d643bfb..adf32a6 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
@@ -1,5 +1,6 @@
package com.zy.acs.manager.core.service.astart;
+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;
@@ -13,15 +14,15 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.PriorityQueue;
+import java.util.*;
/**
* Created by vincent on 6/12/2024
*/
@Service
public class AStarNavigateService {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
@@ -119,7 +120,7 @@
// 鍗曞贩閬撹溅杈嗗杞芥暟閲�
Lane lane = laneService.search(node.getCodeData());
if (null != lane) {
- int otherVehicleCount = 0;
+ Set<String> lanVehicleSet = new HashSet<>();
List<String> laneCodes = lane.getCodes();
for (String laneCodeData : laneCodes) {
@@ -130,15 +131,17 @@
assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!laneVehicle.equals(agvNo)) {
- otherVehicleCount++;
+ lanVehicleSet.add(laneVehicle);
+// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
}
}
}
- if (otherVehicleCount + 1 > maxAgvCountInLane) {
- if (lock) {
- continue;
- }
+ if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
+// if (lock) {
+// continue;
+// }
+ continue;
}
}
--
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