From 5ce35462885d01b158df729d1ffb4068c31591d2 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 15:44:00 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 98 ++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 84 insertions(+), 14 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 a7fdc00..d52e290 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
@@ -1,24 +1,25 @@
package com.zy.acs.manager.core.service;
+import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.common.utils.Utils;
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.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Route;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.RouteService;
+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.ArrayList;
-import java.util.Collections;
-import java.util.List;
-import java.util.PriorityQueue;
+import java.util.*;
import java.util.stream.Collectors;
/**
@@ -27,6 +28,10 @@
@Slf4j
@Service
public class RetreatNavigateService {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+
+ public static final int WEIGHT_CALC_COEFFICIENT = 1000;
@Autowired
private CodeService codeService;
@@ -40,6 +45,10 @@
private AgvService agvService;
@Autowired
private AgvModelService agvModelService;
+ @Autowired
+ private LaneService laneService;
+ @Autowired
+ private ConfigService configService;
/**
* avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -50,6 +59,7 @@
return null;
}
Integer lev = null;
+ Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
List<String> blackList = Utils.singletonList(sponsor);
@@ -58,8 +68,8 @@
, MapDataConstant.IDLE_DISTANCE_COE);
List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
-
RetreatNavigateNode finialNode = null;
@@ -77,23 +87,51 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
- for (RetreatNavigateNode node : neighborNodes) {
+ label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
int weight = 0;
+ // wave
String waveNode = waveMatrix[node.getX()][node.getY()];
assert !waveNode.equals(WaveNodeType.DISABLE.val);
if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
- if (!Cools.isEmpty(otherWaveList)) {
-
- if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
- continue;
+ for (String otherWave : otherWaveList) {
+ if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
+ continue label;
}
+ if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ continue label;
+ } else {
+ weight += WEIGHT_CALC_COEFFICIENT;
+ }
+ }
+ }
- weight += otherWaveList.size();
+ // lane
+ Lane lane = laneService.search(node.getCodeData());
+ if (null != lane) {
+ 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]];
+ 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;
}
}
@@ -144,18 +182,50 @@
.stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
}
- for (RetreatNavigateNode node : neighborNodes) {
+ label: for (RetreatNavigateNode node : neighborNodes) {
int weight = 0;
+ // wave
String waveNode = waveMatrix[node.getX()][node.getY()];
assert !waveNode.equals(WaveNodeType.DISABLE.val);
if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
- if (!Cools.isEmpty(otherWaveList)) {
+ for (String otherWave : otherWaveList) {
+ if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
+ continue;
+ }
+ if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ continue label;
+ } else {
+ weight += WEIGHT_CALC_COEFFICIENT;
+ }
+ }
+ }
- weight += otherWaveList.size();
+ // lane
+ Lane lane = laneService.search(node.getCodeData());
+ if (null != lane) {
+ 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]];
+ 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;
}
}
--
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