From 478aa1b99100ce75757e6aad96457d4b769474f4 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 30 十二月 2024 16:33:10 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 25 ++++++++++++-------------
1 files changed, 12 insertions(+), 13 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 f26ba52..656cd63 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
@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service.astart;
import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
@@ -11,14 +12,17 @@
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.system.service.ConfigService;
+import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.*;
+import java.util.concurrent.CopyOnWriteArrayList;
/**
* Created by vincent on 6/12/2024
*/
+@Slf4j
@Service
public class AStarNavigateService {
@@ -58,9 +62,10 @@
// 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();
- ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
+ List<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
for (NavigateNode node : neighbourNodes) {
node.setCodeData(codeMatrix[node.getX()][node.getY()]);
+
boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
int weight = 0;
@@ -116,30 +121,24 @@
}
// 鍗曞贩閬撹溅杈嗗杞芥暟閲�
- 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<>();
- List<String> laneCodes = lane.getCodes();
- for (String laneCodeData : laneCodes) {
- 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;
}
}
-
//鎵惧埌鐩爣缁撶偣灏辫繑鍥�
if (isEndNode) {
@@ -171,11 +170,11 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
+ private List<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
int x = currentNode.getX();
int y = currentNode.getY();
- ArrayList<NavigateNode> neighbourNodes = new ArrayList<>();
+ List<NavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();
List<NavigateNode> possibleNodes = Arrays.asList(
new NavigateNode(x, y + 1), // right
--
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