From 875ad91b195c581c249aa3bc922aebb6210b5a24 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 17:12:59 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 77 +++++++++++++++++++-------------------
1 files changed, 39 insertions(+), 38 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 2de4a3a..a0a6f4d 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
@@ -176,51 +176,50 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
- boolean pointOfTurn = false;
- if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
- pointOfTurn = true;
- }
- // 璁＄畻鏄惁涓哄彲鐢ㄨ浆寮偣
- if (pointOfTurn) {
- for (RetreatNavigateNode node : neighborNodes) {
- // lane
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
- Set<String> lanVehicleSet = new HashSet<>();
+ // 绗竴姝ワ細鑾峰彇鏈夋晥杞集鐐�
+ if (null == availablePointOfTurn) {
+ // 璁＄畻鏄惁涓哄彲鐢ㄨ浆寮偣
+ if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
+ for (RetreatNavigateNode node : neighborNodes) {
+ // 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);
+ 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;
}
}
- if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
- continue;
- }
+ actuallyLanesOfTurn ++;
}
- actuallyLanesOfTurn ++;
+ // 鏈変袱鏉′互涓婂彲璧板贩閬擄紝鍒欒涓烘湁鏁堣浆寮偣
+ if (actuallyLanesOfTurn >= 2) {
+ availablePointOfTurn = currentNode;
+ availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
+ .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ }
}
-
- if (actuallyLanesOfTurn >= 2) {
- availablePointOfTurn = currentNode;
- availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
- .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
- }
-
}
-
+ // 寤朵几杞集鐐瑰贩閬�
label: for (RetreatNavigateNode node : neighborNodes) {
int weight = 0;
@@ -260,10 +259,12 @@
existNodes.add(node);
}
-
- if (!Cools.isEmpty(enableNodes)) {
-
- if (actuallyLanesOfTurn >= 2) {
+ if (actuallyLanesOfTurn < 2) {
+ availablePointOfTurn = null;
+ availablePointWaveScopeOfTurn = new ArrayList<>();
+ actuallyLanesOfTurn = 0;
+ } else {
+ if (!Cools.isEmpty(enableNodes)) {
Collections.sort(enableNodes);
finialNode = enableNodes.stream().findFirst().orElse(null);
jam.setCycleAvo(1);
--
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