From 95f54b8b7dbc42b7cdeb497145bc07484e41423d Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 11 十一月 2024 13:57:51 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 51 ++++++++++++++++++++++++++++++++-------------------
1 files changed, 32 insertions(+), 19 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 fbb7b26..a7b7cc9 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
@@ -65,7 +65,7 @@
List<String> blackList = Utils.singletonList(sponsor);
Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
- , MapDataConstant.IDLE_DISTANCE_COE);
+ , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
@@ -79,6 +79,7 @@
openQueue.add(start);
existNodes.add(start);
+ boolean phaseSecond = true;
while (openQueue.size() > 0 && null == finialNode) {
@@ -87,6 +88,7 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
+ boolean pointOfTurn = neighborNodes.size() >= 2;
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
@@ -103,6 +105,7 @@
continue label;
}
if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ phaseSecond = false; // there is a way to go
continue label;
} else {
weight += WEIGHT_CALC_FACTOR;
@@ -111,27 +114,37 @@
}
// lane
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
- Set<String> lanVehicleSet = new HashSet<>();
+ if (pointOfTurn) {
+ 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);
+ for (String laneCodeData : lane.getCodes()) {
+ // overlap with sponsor
+ if (avoidPathList.contains(laneCodeData)) {
+ lanVehicleSet.add(sponsor);
+ }
+
+ 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) {
+ phaseSecond = false; // there is a way to go
+ continue;
+ }
+ if (lanVehicleSet.contains(sponsor)) {
+ weight += WEIGHT_CALC_FACTOR * 2;
+ }
}
}
@@ -159,7 +172,7 @@
}
- if (null == finialNode) {
+ if (null == finialNode && phaseSecond) {
// assert openQueue.size() == 0;
existNodes.clear();
--
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