From ac0ba5423f9d0206d5a637ed8338e80d37333972 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 29 十一月 2024 15:19:26 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 101 ++++++++++++++++++++++++++++++++------------------
1 files changed, 65 insertions(+), 36 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 6179fa3..64ba32f 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
@@ -1,25 +1,33 @@
package com.zy.acs.manager.core.service.astart;
+import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
-import com.zy.acs.manager.core.domain.VehicleDto;
+import com.zy.acs.manager.core.domain.Lane;
+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
*/
@Service
public class AStarNavigateService {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+
+ public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
+
+ public static final int WEIGHT_CALC_FACTOR = 1;
@Autowired
private CodeService codeService;
@@ -28,15 +36,18 @@
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
- private AgvService agvService;
-
- public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
+ 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> whiteList, List<String> blackList) {
+ , Boolean lock, List<String> blackList, Segment segment) {
if (start.getX() == end.getX() && start.getY() == end.getY()) {
return end;
}
+ Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
PriorityQueue<NavigateNode> openQueue = new PriorityQueue<>();
ArrayList<NavigateNode> existNodes = new ArrayList<>();
@@ -48,31 +59,18 @@
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
- List<String> included = new ArrayList<>();
-// if (!Cools.isEmpty(whiteList)) {
-// included.addAll(whiteList);
-// }
- included.add(agvNo);
- List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);
-
while (openQueue.size() > 0) {
// 鍙栦紭鍏堥槦鍒楅《閮ㄥ厓绱犲苟涓旀妸杩欎釜鍏冪礌浠嶰pen琛ㄤ腑鍒犻櫎锛屽彇F鍊兼渶灏忕殑鑺傜偣
NavigateNode currentNode = openQueue.poll();
- // 瀵瑰綋鍓嶇粨鐐硅繘琛屾墿灞曪紝寰楀埌涓�涓洓鍛ㄧ粨鐐圭殑鏁扮粍
- 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) {
- // 鑺傜偣瀛樺湪鍏朵粬杞﹁締
- for (VehicleDto vehicleDto : vehicleDtoList) {
- if (node.getCodeData().equals(vehicleDto.getPosCode())) {
- if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
- continue label;
- }
- if (lock) {
- continue label;
- }
- }
+ ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
+ for (NavigateNode node : neighbourNodes) {
+ boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
+
+ int weight = 0;
+
+ if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
+ continue;
}
// 鑺傜偣琚崰鐢�
@@ -82,9 +80,13 @@
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;
}
@@ -99,9 +101,6 @@
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- if (!Cools.isEmpty(blackList) && !Cools.isEmpty(MapDataUtils.hasIntersection(otherWaveList, blackList))) {
- continue;
- }
if (lock) {
continue;
@@ -109,8 +108,34 @@
}
}
+ // 鍗曞贩閬撹溅杈嗗杞芥暟閲�
+ 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);
+ }
+ }
+ }
+
+ if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
+ continue;
+ }
+ }
+
+
//鎵惧埌鐩爣缁撶偣灏辫繑鍥�
- if (node.getX() == end.getX() && node.getY() == end.getY()) {
+ if (isEndNode) {
//骞朵笖璁＄畻鍑篏锛� F锛� H绛夊��
node.initNode(currentNode, end);
return node;
@@ -120,6 +145,7 @@
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));
@@ -280,6 +306,9 @@
//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());
}
--
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