From 8819606b0442ca27731b07aa4f8b93715a0da8fe Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期日, 01 十二月 2024 19:51:24 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 31 +++++++++++++++++++++++++------
1 files changed, 25 insertions(+), 6 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 a7b7cc9..fa4c317 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
@@ -1,5 +1,6 @@
package com.zy.acs.manager.core.service;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
@@ -8,12 +9,12 @@
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.Code;
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.manager.entity.Segment;
+import com.zy.acs.manager.manager.enums.JamStateType;
+import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -49,6 +50,10 @@
private LaneService laneService;
@Autowired
private ConfigService configService;
+ @Autowired
+ private SegmentService segmentService;
+ @Autowired
+ private JamService jamService;
/**
* avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -91,6 +96,7 @@
boolean pointOfTurn = neighborNodes.size() >= 2;
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
+ Code code = codeService.selectByData(node.getCodeData());
int weight = 0;
@@ -105,7 +111,7 @@
continue label;
}
if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
- phaseSecond = false; // there is a way to go
+ phaseSecond = false; // there is a running way
continue label;
} else {
weight += WEIGHT_CALC_FACTOR;
@@ -139,7 +145,7 @@
}
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
- phaseSecond = false; // there is a way to go
+ phaseSecond = false; // there is a running way
continue;
}
if (lanVehicleSet.contains(sponsor)) {
@@ -148,6 +154,19 @@
}
}
+ // 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
+ List<Segment> runningSegments = segmentService.getRunningByEndCode(code.getId());
+ for (Segment runningSeg : runningSegments) {
+ if (0 < jamService.count(new LambdaQueryWrapper<Jam>()
+ .eq(Jam::getAvoSeg, runningSeg.getId())
+ .ne(Jam::getState, JamStateType.DEPRECATED.toString()))) {
+ weight += WEIGHT_CALC_FACTOR * 3;
+ } else {
+ weight += WEIGHT_CALC_FACTOR;
+ }
+ }
+
// enable
if (!avoidPathListWave.contains(node.getCodeData())) {
enableNodes.add(node);
--
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