From adaf4e51f496b069feb39866149fb404d12b96de Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 30 十二月 2024 09:35:33 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 64 ++++++++-----------------------
1 files changed, 17 insertions(+), 47 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index dbda04c..d98b6d3 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -57,7 +57,9 @@
NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
+ long startTime = System.currentTimeMillis();
NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
+// System.out.println("AStart spend time: " + (System.currentTimeMillis() - startTime));
if (null == finishNode) {
log.warn("{} 鍙稟GV妫�绱{}] ===>> [{}]璺緞澶辫触......", agvNo, startCode.getData(), endCode.getData());
@@ -204,7 +206,6 @@
Integer serial = dynamicNode.getSerial();
- long time = dynamicNode.getTime();
List<String> resetCodeList = new ArrayList<>();
@@ -215,7 +216,7 @@
DynamicNode node = dynamicMatrix[i][j];
if (node.getVehicle().equals(agvNo)) {
- if (node.getSerial() < serial || node.getTime() != time) {
+ if (node.getSerial() < serial) {
resetCodeList.add(codeMatrix[i][j]);
}
}
@@ -265,7 +266,7 @@
NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
List<NavigateNode> includeList = new ArrayList<>();
- List<NavigateNode> existNodes = new ArrayList<>();
+ Set<NavigateNode> existNodes = new HashSet<>();
includeList.add(originNode);
existNodes.add(originNode);
@@ -277,7 +278,7 @@
public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
, String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
- , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
+ , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = currNode.getX();
int y = currNode.getY();
@@ -289,7 +290,7 @@
public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode
, String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
- , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
+ , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = nextNode.getX();
int y = nextNode.getY();
@@ -299,48 +300,26 @@
return;
}
- if (this.isExist(nextNode, existNodes)) {
+ if (existNodes.contains(nextNode)) {
return;
}
existNodes.add(nextNode);
- String nextNodeCodeData = codeMatrix[x][y];
- if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
+ List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
+ List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[x][y]);
+
+ if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
+ nextNode.setCodeData(codeMatrix[x][y]);
+
+ if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
+ includeList.add(nextNode);
+ }
this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
-
- } else {
-
- List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
- List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);
-
-// if (Math.pow(o1.getX() - o2.getX(), 2) + Math.pow(o1.getY() - o2.getY(), 2) <= Math.pow(radiusLen, 2)) {
- if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
- nextNode.setCodeData(nextNodeCodeData);
- includeList.add(nextNode);
-
- this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
-
- }
}
- }
- private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) {
- for (NavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
- }
-
- private boolean isSame(NavigateNode o1, NavigateNode o2) {
- if (Cools.isEmpty(o1, o2)) {
- return false;
- }
- return o1.getX() == o2.getX() && o1.getY() == o2.getY();
}
// v2 BFS ------------------------------------------------------------------------------
@@ -392,7 +371,7 @@
}
// If the node has already been visited, skip it
- if (this.isExist0(nextNode, visited)) {
+ if (visited.contains(nextNode)) {
return;
}
@@ -420,15 +399,6 @@
queue.offer(nextNode);
}
}
- }
-
- private boolean isExist0(NavigateNode node, Set<NavigateNode> existNodes) {
- for (NavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
}
--
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