From 5ed7d2941573d4b89a52457483717335e26e605a Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 08 十一月 2024 14:44:09 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 82 +++++++++++++++++++++++++++++------------
1 files changed, 58 insertions(+), 24 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 a0af323..adf32a6 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
@@ -1,20 +1,20 @@
package com.zy.acs.manager.core.service.astart;
+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.VehicleDto;
+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.manager.entity.Route;
import com.zy.acs.manager.manager.service.AgvService;
-import com.zy.acs.manager.manager.service.CodeGapService;
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 org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.PriorityQueue;
+import java.util.*;
/**
* Created by vincent on 6/12/2024
@@ -22,24 +22,29 @@
@Service
public class AStarNavigateService {
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+
+ public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
+
@Autowired
private CodeService codeService;
- @Autowired
- private CodeGapService codeGapService;
@Autowired
private RouteService routeService;
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
private AgvService agvService;
-
- public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
+ @Autowired
+ private LaneService laneService;
+ @Autowired
+ private ConfigService configService;
public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
- , Boolean lock, List<String> whiteList, List<String> blackList) {
+ , Boolean lock, List<String> blackList) {
if (start.getX() == end.getX() && start.getY() == end.getY()) {
return end;
}
+ Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
PriorityQueue<NavigateNode> openQueue = new PriorityQueue<>();
ArrayList<NavigateNode> existNodes = new ArrayList<>();
@@ -51,12 +56,12 @@
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
- List<String> included = new ArrayList<>();
+// List<String> included = new ArrayList<>();
// if (!Cools.isEmpty(whiteList)) {
// included.addAll(whiteList);
// }
- included.add(agvNo);
- List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);
+// included.add(agvNo);
+// List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);
while (openQueue.size() > 0) {
// 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
@@ -67,16 +72,16 @@
label: for (NavigateNode node : neighbourNodes) {
// 鑺傜偣瀛樺湪鍏朵粬杞﹁締
- for (VehicleDto vehicleDto : vehicleDtoList) {
- if (node.getCodeData().equals(vehicleDto.getPosCode())) {
- if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
- continue label;
- }
- if (lock) {
- continue label;
- }
- }
- }
+// for (VehicleDto vehicleDto : vehicleDtoList) {
+// if (node.getCodeData().equals(vehicleDto.getPosCode())) {
+// if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
+// continue label;
+// }
+// if (lock) {
+// continue label;
+// }
+// }
+// }
// 鑺傜偣琚崰鐢�
DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
@@ -102,7 +107,7 @@
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- if (!Cools.isEmpty(blackList) && !Cools.isEmpty(MapDataUtils.hasIntersection(otherWaveList, blackList))) {
+ if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
continue;
}
@@ -112,6 +117,35 @@
}
}
+ // 鍗曞贩閬撹溅杈嗗杞芥暟閲�
+ 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) {
+// if (lock) {
+// continue;
+// }
+ continue;
+ }
+ }
+
+
//鎵惧埌鐩爣缁撶偣灏辫繑鍥�
if (node.getX() == end.getX() && node.getY() == end.getY()) {
//骞朵笖璁＄畻鍑篏锛� F锛� H绛夊��
--
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