From 8d425ae26f1070043f4e81e7ebce1e6f39d5d013 Mon Sep 17 00:00:00 2001 From: luxiaotao1123 <t1341870251@163.com> Date: 星期一, 18 十一月 2024 10:21:52 +0800 Subject: [PATCH] # --- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 47 +++++++++++++++++++++++++++++------------------ 1 files changed, 29 insertions(+), 18 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 2e41211..ce7c2ab 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 @@ -7,16 +7,15 @@ 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.entity.Segment; import com.zy.acs.manager.manager.service.CodeService; +import com.zy.acs.manager.manager.service.JamService; 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 @@ -28,6 +27,8 @@ public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE; + public static final int WEIGHT_CALC_FACTOR = 1; + @Autowired private CodeService codeService; @Autowired @@ -35,14 +36,14 @@ @Autowired private MapDataDispatcher mapDataDispatcher; @Autowired - private AgvService agvService; + private JamService jamService; @Autowired private LaneService laneService; @Autowired private ConfigService configService; public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end - , Boolean lock, List<String> blackList) { + , Boolean lock, List<String> blackList, Segment segment) { if (start.getX() == end.getX() && start.getY() == end.getY()) { return end; } @@ -72,7 +73,7 @@ ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes); // 瀵硅繖涓粨鐐归亶鍘嗭紝鐪嬫槸鍚︽湁鐩爣缁撶偣鍑虹幇 label: for (NavigateNode node : neighbourNodes) { - + int weight = 0; // 鑺傜偣瀛樺湪鍏朵粬杞﹁締 // for (VehicleDto vehicleDto : vehicleDtoList) { // if (node.getCodeData().equals(vehicleDto.getPosCode())) { @@ -85,6 +86,10 @@ // } // } + if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) { + continue; + } + // 鑺傜偣琚崰鐢� DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()]; String vehicle = dynamicNode.getVehicle(); @@ -92,9 +97,13 @@ if (!vehicle.equals(DynamicNodeType.ACCESS.val)) { if (!vehicle.equals(agvNo)) { - if (!Cools.isEmpty(blackList) && blackList.contains(vehicle)) { - continue; + // 瀛樺湪杞﹁締锛屼笖涓哄凡缁忛伩璁╃殑杞︼紝鍒欐潈閲嶅�煎鍔� + if (null != segment) { + if (!Cools.isEmpty(jamService.getJamFromSegmentByAvo(segment, vehicle))) { + weight += WEIGHT_CALC_FACTOR; + } } + if (lock) { continue; } @@ -109,9 +118,6 @@ List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo); if (!Cools.isEmpty(otherWaveList)) { - if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) { - continue; - } if (lock) { continue; @@ -122,7 +128,7 @@ // 鍗曞贩閬撹溅杈嗗杞芥暟閲� Lane lane = laneService.search(node.getCodeData()); if (null != lane) { - int otherVehicleCount = 0; + Set<String> lanVehicleSet = new HashSet<>(); List<String> laneCodes = lane.getCodes(); for (String laneCodeData : laneCodes) { @@ -133,16 +139,17 @@ assert !laneVehicle.equals(DynamicNodeType.BLOCK.val); if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) { if (!laneVehicle.equals(agvNo)) { - otherVehicleCount++; + lanVehicleSet.add(laneVehicle); // redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30); } } } - if (otherVehicleCount + 1 > maxAgvCountInLane) { - if (lock) { - continue; - } + if (lanVehicleSet.size() + 1 > maxAgvCountInLane) { +// if (lock) { +// continue; +// } + continue; } } @@ -158,6 +165,7 @@ int gCost = calcNodeCost(currentNode, node) * (OPEN_TURN_COST_WEIGHT ? calcNodeTurnCost(currentNode, node, end) : 1); //杩涜璁$畻瀵� G, F, H 绛夊�� + node.setWeight(weight); node.setLastDistance(gCost); node.initNode(currentNode, end); node.setH(calcNodeCost(node, end)); @@ -318,6 +326,9 @@ //璁$畻閫氳繃鐜板湪鐨勭粨鐐圭殑浣嶇疆鍜屾渶缁堢粨鐐圭殑浣嶇疆璁$畻H鍊�(鏇煎搱椤挎硶锛氬潗鏍囧垎鍒彇宸�肩浉鍔�) private int calcNodeCost(NavigateNode node1, NavigateNode node2) { +// Code code1 = codeService.selectByData(node1.getCodeData()); +// Code code2 = codeService.selectByData(node2.getCodeData()); +// return (int) (Math.abs(code2.getX() - code1.getX()) + Math.abs(code2.getY() - code1.getY())); return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY()); } -- Gitblit v1.9.1