From 3e76332bf67de55be83a8ef4cd893a2b7b72b7d9 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 08 一月 2025 14:48:50 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 35 ++++++++++++-----------------------
1 files changed, 12 insertions(+), 23 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 0451ee4..1b6d1d4 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
@@ -1,19 +1,16 @@
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;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
-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.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.service.*;
@@ -39,8 +36,6 @@
@Autowired
private CodeService codeService;
- @Autowired
- private RouteService routeService;
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
@@ -113,7 +108,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue label;
}
- if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
phaseSecond = false; // there is a running way
continue label;
} else {
@@ -124,29 +119,26 @@
// lane
if (pointOfTurn) {
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
+ List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ if (!Cools.isEmpty(laneCodeIdxList)) {
Set<String> lanVehicleSet = new HashSet<>();
- for (String laneCodeData : lane.getCodes()) {
+ for (int[] codeMatrixIdx : laneCodeIdxList) {
// overlap with sponsor
+ String laneCodeData = codeMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
if (avoidPathList.contains(laneCodeData)) {
lanVehicleSet.add(sponsor);
}
- int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
- // scan dynamicMatrix or WaveMatrix
- DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
+ DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
String laneVehicle = laneDynamicNode.getVehicle();
assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!laneVehicle.equals(agvNo)) {
lanVehicleSet.add(laneVehicle);
-// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
}
}
}
-
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
phaseSecond = false; // there is a running way
continue;
@@ -155,6 +147,7 @@
weight += WEIGHT_CALC_FACTOR * 2;
}
}
+
}
Code code = codeService.selectByData(node.getCodeData());
@@ -224,24 +217,20 @@
for (RetreatNavigateNode node : neighborNodes) {
// lane
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
+ List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ if (!Cools.isEmpty(laneCodeIdxList)) {
Set<String> lanVehicleSet = new HashSet<>();
- for (String laneCodeData : lane.getCodes()) {
- int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
- // scan dynamicMatrix or WaveMatrix
- DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
+ for (int[] codeMatrixIdx : laneCodeIdxList) {
+ DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
String laneVehicle = laneDynamicNode.getVehicle();
assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!laneVehicle.equals(agvNo)) {
lanVehicleSet.add(laneVehicle);
-// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
}
}
}
-
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
continue;
}
@@ -275,7 +264,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue;
}
- if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
actualLanesOfTurn --;
--
Gitblit v1.9.1