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/astart/AStarNavigateService.java | 92 +++++++---------------------------------------
1 files changed, 14 insertions(+), 78 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 0f4def0..46501c0 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
@@ -1,11 +1,13 @@
package com.zy.acs.manager.core.service.astart;
+import com.zy.acs.common.constant.RedisConstant;
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;
import com.zy.acs.manager.core.service.LaneService;
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.Route;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.CodeService;
@@ -50,7 +52,7 @@
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
PriorityQueue<NavigateNode> openQueue = new PriorityQueue<>();
- ArrayList<NavigateNode> existNodes = new ArrayList<>();
+ Set<NavigateNode> existNodes = new HashSet<>();
openQueue.add(start);
existNodes.add(start);
@@ -59,7 +61,7 @@
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
- while (openQueue.size() > 0) {
+ while (!openQueue.isEmpty()) {
// 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();
@@ -175,7 +177,7 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, List<NavigateNode> existNodes) {
+ private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
//鑾峰彇褰撳墠缁撶偣鐨剎, y
int x = currentNode.getX();
int y = currentNode.getY();
@@ -183,29 +185,29 @@
ArrayList<NavigateNode> neighbourNodes = new ArrayList<>();
NavigateNode rightNode = extendNeighborNodes(currentNode, new NavigateNode(x, y + 1), mapMatrix, existNodes, null, null);
- if (is_valid(currentNode, rightNode, mapMatrix, existNodes)) {
+ if (null != rightNode) {
neighbourNodes.add(rightNode);
}
NavigateNode leftNode = extendNeighborNodes(currentNode, new NavigateNode(x, y - 1), mapMatrix, existNodes, null, null);
- if (is_valid(currentNode, leftNode, mapMatrix, existNodes)) {
+ if (null != leftNode) {
neighbourNodes.add(leftNode);
}
NavigateNode topNode = extendNeighborNodes(currentNode, new NavigateNode(x - 1, y), mapMatrix, existNodes, null, null);
- if (is_valid(currentNode, topNode, mapMatrix, existNodes)) {
+ if (null != topNode) {
neighbourNodes.add(topNode);
}
NavigateNode bottomNode = extendNeighborNodes(currentNode, new NavigateNode(x + 1, y), mapMatrix, existNodes, null, null);
- if (is_valid(currentNode, bottomNode, mapMatrix, existNodes)) {
+ if (null != bottomNode) {
neighbourNodes.add(bottomNode);
}
return neighbourNodes;
}
- private NavigateNode extendNeighborNodes(NavigateNode currentNode, NavigateNode extendNode, int[][] mapMatrix, List<NavigateNode> existNodes, Integer dx, Integer dy) {
+ private NavigateNode extendNeighborNodes(NavigateNode currentNode, NavigateNode extendNode, int[][] mapMatrix, Set<NavigateNode> existNodes, Integer dx, Integer dy) {
NavigateNode nextNode = null;
if (null == dx || null == dy) {
@@ -230,7 +232,7 @@
} else {
- if (isExist(nextNode, existNodes)) {
+ if (existNodes.contains(nextNode)) {
return null;
}
@@ -245,11 +247,9 @@
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;
}
@@ -257,74 +257,10 @@
}
}
- private boolean is_valid(NavigateNode currentNode, NavigateNode node, int[][] mapMatrix, List<NavigateNode> existNodes) {
- if (null == node) {
- return false;
- }
-// int x = node.getX();
-// int y = node.getY();
-// if (x < 0 || x >= mapMatrix.length
-// || y < 0 || y >= mapMatrix[0].length) {
-// return false;
-// }
-//
-// // 濡傛灉缁撶偣鐨勪綅缃皬浜�0锛屽垯涓嶅悎娉�
-// if (mapMatrix[x][y] < 0) return false;
-//
-// if (is_exist(node, existNodes)) {
-// return false;
-// }
-//
-// // 鍒ゆ柇閫氳繃鎬�
-// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
-// String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
-// String nextNodeCodeData = codeMatrix[node.getX()][node.getY()];
-// node.setCodeData(nextNodeCodeData);
-//
-// Route route = routeService.findByCodeOfBoth(
-// codeService.selectByData(currentNodeCodeData).getId(),
-// codeService.selectByData(nextNodeCodeData).getId()
-// );
-// if (null == route) {
-// return false;
-// }
-
- return true;
- }
-
-// private boolean is_exist(NavigateNode node, List<NavigateNode> existNodes) {
-// for (NavigateNode exist_node : existNodes) {
-// if (node.getX() == exist_node.getX() && node.getY() == exist_node.getY()) {
-// return true;
-// }
-// }
-// return false;
-// }
-
- private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) {
- for (NavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
- }
-
- private boolean isSame(NavigateNode o1, NavigateNode o2) {
- if (Cools.isEmpty(o1, o2)) {
- return false;
- }
- return o1.getX() == o2.getX() && o1.getY() == o2.getY();
- }
-
//------------------A*鍚彂鍑芥暟------------------//
//璁＄畻閫氳繃鐜板湪鐨勭粨鐐圭殑浣嶇疆鍜屾渶缁堢粨鐐圭殑浣嶇疆璁＄畻H鍊�(鏇煎搱椤挎硶锛氬潗鏍囧垎鍒彇宸�肩浉鍔�)
private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
-// Code code1 = codeService.selectByData(node1.getCodeData());
-// Code code2 = codeService.selectByData(node2.getCodeData());
-// return (int) (Math.abs(code2.getX() - code1.getX()) + Math.abs(code2.getY() - code1.getY()));
-
return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
}
--
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