From b7cc572e1511119da0901d3b26fec74681c3d9c7 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 21:19:46 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 14 +++++++++-----
1 files changed, 9 insertions(+), 5 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 d4a2e08..4e66ed4 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
@@ -31,7 +31,7 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- public static final int WEIGHT_CALC_COEFFICIENT = 1000;
+ public static final int WEIGHT_CALC_COEFFICIENT = 10000;
@Autowired
private CodeService codeService;
@@ -169,6 +169,7 @@
RetreatNavigateNode availablePointOfTurn = null;
List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
int actualLanesOfTurn = 0;
+ int filterPointOfTurnTimes = 0;
while (openQueue.size() > 0 && null == finialNode) {
@@ -181,14 +182,16 @@
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<>();
- List<String> laneCodes = lane.getCodes();
- for (String laneCodeData : laneCodes) {
+ for (String laneCodeData : lane.getCodes()) {
int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
// scan dynamicMatrix or WaveMatrix
DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
@@ -197,7 +200,7 @@
if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!laneVehicle.equals(agvNo)) {
lanVehicleSet.add(laneVehicle);
- // redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
+// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
}
}
}
@@ -215,6 +218,8 @@
availablePointOfTurn = currentNode;
availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
.stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ } else {
+ actualLanesOfTurn = 0;
}
}
}
@@ -238,7 +243,6 @@
if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
actualLanesOfTurn --;
}
-
continue label;
} else {
weight += WEIGHT_CALC_COEFFICIENT;
--
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