From 55fad703037ed18d7b0604cb05aeec753b320cda Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 18 十二月 2024 14:35:20 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 23 +++++++++++------------
1 files changed, 11 insertions(+), 12 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 fa4c317..594d12a 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
@@ -1,6 +1,7 @@
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;
@@ -9,6 +10,7 @@
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;
@@ -80,13 +82,13 @@
RetreatNavigateNode finialNode = null;
PriorityQueue<RetreatNavigateNode> openQueue = new PriorityQueue<>();
- ArrayList<RetreatNavigateNode> existNodes = new ArrayList<>();
+ Set<RetreatNavigateNode> existNodes = new HashSet<>();
openQueue.add(start);
existNodes.add(start);
boolean phaseSecond = true;
- while (openQueue.size() > 0 && null == finialNode) {
+ while (!openQueue.isEmpty() && null == finialNode) {
RetreatNavigateNode currentNode = openQueue.poll();
@@ -203,7 +205,7 @@
int actualLanesOfTurn = 0;
int filterPointOfTurnTimes = 0;
- while (openQueue.size() > 0 && null == finialNode) {
+ while (!openQueue.isEmpty() && null == finialNode) {
RetreatNavigateNode currentNode = openQueue.poll();
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
@@ -315,7 +317,7 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, List<RetreatNavigateNode> existNodes) {
+ private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes) {
int x = currentNode.getX();
int y = currentNode.getY();
@@ -345,7 +347,7 @@
return neighbourNodes;
}
- private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, List<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
+ private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, Set<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
RetreatNavigateNode nextNode;
if (null == dx || null == dy) {
@@ -371,7 +373,7 @@
return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);
} else {
- if (this.isExist(nextNode, existNodes)) {
+ if (existNodes.contains(nextNode)) {
return null;
}
@@ -386,14 +388,11 @@
nextNode.setCodeData(nextNodeCodeData);
// 鍒ゆ柇閫氳繃鎬�
- Route route = routeService.findByCodeOfBoth(
- codeService.selectByData(currentNodeCodeData).getId(),
- codeService.selectByData(nextNodeCodeData).getId()
- );
- if (null == route) {
+ String routeKey = RouteGenerator.generateRouteKey(currentNodeCodeData, nextNodeCodeData);
+ Object routeVal = redis.getMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey);
+ if (routeVal == null || !(Boolean) routeVal) {
return null;
}
-
}
return nextNode;
--
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