From 3f14cb5d2fc4c68b486ca92689dfe86d1dc11533 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 06 一月 2025 13:26:12 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 40 ++++++++++++++++------------------------
1 files changed, 16 insertions(+), 24 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index d98b6d3..11f942d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -6,6 +6,7 @@
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.service.astart.*;
+import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.entity.Code;
@@ -54,36 +55,26 @@
int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
- NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
- NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
+ AStarNavigateNode startNode = new AStarNavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
+ AStarNavigateNode endNode = new AStarNavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
- long startTime = System.currentTimeMillis();
- NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
-// System.out.println("AStart spend time: " + (System.currentTimeMillis() - startTime));
-
+// long startTime = System.currentTimeMillis();
+ AStarNavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
+// System.out.println("A Star Spend time :" + (System.currentTimeMillis() - startTime));
if (null == finishNode) {
- log.warn("{} 鍙稟GV妫�绱{}] ===>> [{}]璺緞澶辫触......", agvNo, startCode.getData(), endCode.getData());
return new ArrayList<>();
}
- ArrayList<NavigateNode> navigateNodes = new ArrayList<>();
+ ArrayList<AStarNavigateNode> navigateNodes = new ArrayList<>();
- // 娓叉煋
- NavigateNode parentNode = null; // 褰撳墠寰幆涓婁竴鑺傜偣锛岀敤浜庢嫄鐐硅绠�
while (finishNode != null) {
navigateNodes.add(finishNode);
-
- parentNode = finishNode;
finishNode = finishNode.getParent();
}
Collections.reverse(navigateNodes);
-// for (NavigateNode navigateNode : navigateNodes) {
-// navigateNode.setParent(null);
-// }
-
- List<String> navigatePath = navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
+ List<String> navigatePath = navigateNodes.stream().map(AStarNavigateNode::getCodeData).collect(Collectors.toList());
// max count of steps
if (navigatePath.size() > MapDataConstant.MAX_STEPS_SINGLE) {
@@ -182,7 +173,8 @@
}
public void lockPath(Integer lev, List<String> pathList, String agvNo) {
- mapDataDispatcher.modifyDynamicMatrix(lev, pathList, agvNo);
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, pathList);
+ mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo);
}
public synchronized void unlockPath(String agvNo, String codeData) {
@@ -205,27 +197,27 @@
DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
- Integer serial = dynamicNode.getSerial();
+ int serial = dynamicNode.getSerial();
- List<String> resetCodeList = new ArrayList<>();
+ List<int[]> resetCodeIdxList = new ArrayList<>();
for (int i = 0; i < dynamicMatrix.length; i++) {
for (int j = 0; j < dynamicMatrix[i].length; j++) {
- if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
+// if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
DynamicNode node = dynamicMatrix[i][j];
if (node.getVehicle().equals(agvNo)) {
if (node.getSerial() < serial) {
- resetCodeList.add(codeMatrix[i][j]);
+ resetCodeIdxList.add(new int[] {i, j});
}
}
}
}
- if (!Cools.isEmpty(resetCodeList)) {
+ if (!Cools.isEmpty(resetCodeIdxList)) {
- mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeList);
+ mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeIdxList);
}
stopWatch.stop();
--
Gitblit v1.9.1