From 7ce12b33107fb33941df7e1589bf1a6716539377 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 13 三月 2026 13:39:48 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 35 ++++++++++++++++++++++++++++-------
1 files changed, 28 insertions(+), 7 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 e13cd31..c73ac0f 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
@@ -5,10 +5,10 @@
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
-import com.zy.acs.manager.core.constant.MapDataConstant;
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.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Segment;
@@ -45,15 +45,19 @@
@Autowired
private AgvModelService agvModelService;
@Autowired
- private LaneService laneService;
+ private LaneBuilder laneBuilder;
@Autowired
private ConfigService configService;
@Autowired
private SegmentService segmentService;
@Autowired
private JamService jamService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
/**
+ * agvNo: 闃诲AGV锛屾尅閬撹��
+ * sponsor锛� 琚樆濉濧GV锛屽鍧�鍙戣捣鑰�
* avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
**/
// @SuppressWarnings("all")
@@ -64,11 +68,23 @@
Integer lev = null;
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
+ // scope code area: 4ms
+ Long agvId = agvService.getAgvId(agvNo);
+ Boolean withinArea = agvAreaDispatcher.isAgvExistsInAnyArea(agvId);
+ List<String> scopeCodeList = new ArrayList<>();
+ if (withinArea) {
+ scopeCodeList = agvAreaDispatcher.getCodesByAgvId(agvId);
+ if (!Cools.isEmpty(scopeCodeList) && !scopeCodeList.contains(start.getCodeData())) {
+ withinArea = false;
+ }
+ }
+
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
List<String> blackList = Utils.singletonList(sponsor);
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
- , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+ AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
+ AgvModel sponsorModel = agvModelService.getByAgvNo(sponsor);
+ double avoidDistance = MapDataUtils.buildFootprint(agvModel).maxExtent() + MapDataUtils.buildFootprint(sponsorModel).maxExtent();
List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
@@ -96,6 +112,11 @@
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
+ if (withinArea) {
+ assert !Cools.isEmpty(scopeCodeList);
+ if (!scopeCodeList.contains(node.getCodeData())) { continue; }
+ }
+
int weight = 0;
// wave
@@ -119,7 +140,7 @@
// lane
if (pointOfTurn) {
- List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ List<int[]> laneCodeIdxList = laneBuilder.getLaneCodeIdxList(node.getCodeData());
if (!Cools.isEmpty(laneCodeIdxList)) {
Set<String> lanVehicleSet = new HashSet<>();
@@ -150,7 +171,7 @@
}
- Code code = codeService.selectByData(node.getCodeData());
+ Code code = codeService.getCacheByData(node.getCodeData());
// judge whether the node has already been marked as a retreat node?
// This is a very troublesome matter, if the node be repeatedly mark as a retreat node
@@ -217,7 +238,7 @@
for (RetreatNavigateNode node : neighborNodes) {
// lane
- List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ List<int[]> laneCodeIdxList = laneBuilder.getLaneCodeIdxList(node.getCodeData());
if (!Cools.isEmpty(laneCodeIdxList)) {
Set<String> lanVehicleSet = new HashSet<>();
--
Gitblit v1.9.1