From af9941fca9bd1b5d5542e88db71536a18f4606f9 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 29 十一月 2024 14:51:16 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 177 ++++++++++++++++++++++++++++++++++-------------------------
1 files changed, 102 insertions(+), 75 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 d52e290..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
@@ -1,8 +1,8 @@
package com.zy.acs.manager.core.service;
import com.zy.acs.common.utils.RedisSupport;
-import com.zy.acs.framework.common.Cools;
import com.zy.acs.common.utils.Utils;
+import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.Lane;
@@ -31,7 +31,7 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- public static final int WEIGHT_CALC_COEFFICIENT = 1000;
+ public static final int WEIGHT_CALC_FACTOR = 10000;
@Autowired
private CodeService codeService;
@@ -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; }
@@ -103,35 +105,46 @@
continue label;
}
if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ phaseSecond = false; // there is a way to go
continue label;
} else {
- weight += WEIGHT_CALC_COEFFICIENT;
+ weight += WEIGHT_CALC_FACTOR;
}
}
}
// 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;
+ }
}
}
@@ -159,15 +172,17 @@
}
- if (null == finialNode) {
+ if (null == finialNode && phaseSecond) {
// assert openQueue.size() == 0;
existNodes.clear();
openQueue.add(start);
existNodes.add(start);
- RetreatNavigateNode firstPointOfTurn = null;
- List<String> firstPointWaveScopeOfTurn = new ArrayList<>();
+ RetreatNavigateNode availablePointOfTurn = null;
+ List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
+ int actualLanesOfTurn = 0;
+ int filterPointOfTurnTimes = 0;
while (openQueue.size() > 0 && null == finialNode) {
@@ -175,15 +190,55 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
- int forks = neighborNodes.size();
- if (firstPointOfTurn == null && forks >= 2 && !isSame(start, currentNode)) {
- firstPointOfTurn = currentNode;
- firstPointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, firstPointOfTurn.getCodeData(), avoidDistance)
- .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+
+ // 绗竴姝ワ細鑾峰彇鏈夋晥杞集鐐�
+ if (null == availablePointOfTurn) {
+ // 璁＄畻鏄惁涓哄彲鐢ㄨ浆寮偣
+ if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
+ filterPointOfTurnTimes ++;
+ if (filterPointOfTurnTimes > 2) { break; }
+
+ for (RetreatNavigateNode node : neighborNodes) {
+ // lane
+ Lane lane = laneService.search(node.getCodeData());
+ if (null != lane) {
+ Set<String> lanVehicleSet = new HashSet<>();
+
+ for (String laneCodeData : lane.getCodes()) {
+ 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;
+ }
+ }
+
+ actualLanesOfTurn ++;
+ }
+
+ // 鏈変袱鏉′互涓婂彲璧板贩閬擄紝鍒欒涓烘湁鏁堣浆寮偣
+ if (actualLanesOfTurn >= 2) {
+ availablePointOfTurn = currentNode;
+ availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
+ .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ } else {
+ actualLanesOfTurn = 0;
+ }
+ }
}
+ // 寤朵几杞集鐐瑰贩閬�
label: for (RetreatNavigateNode node : neighborNodes) {
-
int weight = 0;
// wave
@@ -197,41 +252,19 @@
continue;
}
if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+
+ if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
+ actualLanesOfTurn --;
+ }
continue label;
} else {
- weight += WEIGHT_CALC_COEFFICIENT;
+ weight += WEIGHT_CALC_FACTOR;
}
}
}
- // lane
- 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;
- }
- }
-
- // have cross turn road
- if (null != firstPointOfTurn) {
- if (!firstPointWaveScopeOfTurn.contains(node.getCodeData())) {
+ if (null != availablePointOfTurn) {
+ if (!availablePointWaveScopeOfTurn.contains(node.getCodeData())) {
enableNodes.add(node);
}
}
@@ -243,10 +276,16 @@
existNodes.add(node);
}
- if (!Cools.isEmpty(enableNodes)) {
- Collections.sort(enableNodes);
- finialNode = enableNodes.stream().findFirst().orElse(null);
- jam.setCycleAvo(1);
+ if (actualLanesOfTurn < 2) {
+ availablePointOfTurn = null;
+ availablePointWaveScopeOfTurn = new ArrayList<>();
+ actualLanesOfTurn = 0;
+ } else {
+ if (!Cools.isEmpty(enableNodes)) {
+ Collections.sort(enableNodes);
+ finialNode = enableNodes.stream().findFirst().orElse(null);
+ jam.setCycleAvo(1);
+ }
}
}
@@ -254,18 +293,6 @@
}
return finialNode;
- }
-
- private int calcNodeWeightVal(List<String> otherWaveList) {
- int weightVal = 0;
-
- if (!Cools.isEmpty(otherWaveList)) {
-
-
- }
-
-
- return weightVal;
}
// 鑾峰彇鍥涘懆鑺傜偣
--
Gitblit v1.9.1