From bb3b18aa4627e24e3428f89c90b867bad5eb40f6 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 16 十一月 2024 15:53:28 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java | 5 ++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 6 +-
zy-acs-manager/src/main/resources/mapper/manager/JamMapper.xml | 12 ++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 22 +++++++++--
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/JamServiceImpl.java | 10 ++++
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/JamMapper.java | 2 +
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/JamService.java | 5 ++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 9 +---
8 files changed, 55 insertions(+), 16 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 52eac9f..d67e920 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
@@ -9,6 +9,7 @@
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Loc;
+import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.system.service.ConfigService;
@@ -40,15 +41,11 @@
@Autowired
private ActionService actionService;
- public List<String> checkoutPath(String agvNo, Code startCode, Code endCode, Boolean lock) {
- return this.checkoutPath(agvNo, startCode, endCode, lock, null);
- }
-
/**
* 瀵诲潃 ===>> A Star
*/
public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
- , Boolean lock, List<String> blackList) {
+ , Boolean lock, List<String> blackList, Segment segment) {
int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
@@ -56,7 +53,7 @@
NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
- NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList);
+ NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
if (null == finishNode) {
log.warn("{} 鍙稟GV妫�绱{}] ===>> [{}]璺緞澶辫触......", agvNo, startCode.getData(), endCode.getData());
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 6ec43b9..eed8e6a 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -200,16 +200,16 @@
Date now = new Date();
Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
// judge avoid of jam
- List<Jam> unfinishedOriginJamByCurrAgv = jamService.hasUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
+ List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
// 缁撴灉闆�
List<String> pathList = new ArrayList<>();
// 鏃犻殰纰嶈В
- List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath);
+ List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
// 閬胯瑙�
- List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath);
+ List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);
if (!Cools.isEmpty(lockPathList) && // 瀛樺湪閬胯瑙�
Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10
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 37109bb..ce7c2ab 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
@@ -7,8 +7,9 @@
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;
@@ -26,6 +27,8 @@
public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
+ public static final int WEIGHT_CALC_FACTOR = 1;
+
@Autowired
private CodeService codeService;
@Autowired
@@ -33,14 +36,14 @@
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
- private AgvService agvService;
+ 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> blackList) {
+ , Boolean lock, List<String> blackList, Segment segment) {
if (start.getX() == end.getX() && start.getY() == end.getY()) {
return end;
}
@@ -70,7 +73,7 @@
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) {
-
+ int weight = 0;
// 鑺傜偣瀛樺湪鍏朵粬杞﹁締
// for (VehicleDto vehicleDto : vehicleDtoList) {
// if (node.getCodeData().equals(vehicleDto.getPosCode())) {
@@ -93,6 +96,13 @@
assert !vehicle.equals(DynamicNodeType.BLOCK.val);
if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!vehicle.equals(agvNo)) {
+
+ // 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;
@@ -155,6 +165,7 @@
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));
@@ -315,6 +326,9 @@
//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());
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java
index 7f0c943..f3bab8b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java
@@ -26,6 +26,7 @@
private String direction; //琛岃蛋鏂瑰悜
private Integer lastDistance; // 璺濈涓婁釜鑺傜偣璺濈
private Integer moveDistance; // 鎬昏璧拌窛绂�
+ private Integer weight; // G 鏉冮噸
private String codeData;
@@ -46,7 +47,9 @@
this.parent = father;
if (this.parent != null) {
//璧拌繃鐨勬鏁扮瓑浜庣埗鑺傜偣璧拌繃鐨勬鏁板姞涓�
- this.G = father.G + Optional.ofNullable(this.lastDistance).orElse(0);
+ this.G = father.G
+ + Optional.ofNullable(this.lastDistance).orElse(0)
+ + Optional.ofNullable(this.weight).orElse(0);
} else { //鐖惰妭鐐逛负绌轰唬琛ㄥ畠鏄涓�涓粨鐐�
this.G = 0;
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/JamMapper.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/JamMapper.java
index e3e14e9..676d2f4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/JamMapper.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/JamMapper.java
@@ -10,4 +10,6 @@
List<Jam> selectUnfinishedJamByAvo(@Param("avoAgv")Long avoAgv, @Param("currCode")Long currCode, @Param("currSeg")Long currSeg);
+ List<Jam> selectJamFromSegmentByAvo(@Param("jamSeg")Long jamSeg, @Param("avoAgv")Long avoAgv);
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/JamService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/JamService.java
index 2e1014a..88de9a4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/JamService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/JamService.java
@@ -2,6 +2,7 @@
import com.baomidou.mybatisplus.extension.service.IService;
import com.zy.acs.manager.manager.entity.Jam;
+import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import java.util.List;
@@ -10,10 +11,12 @@
Jam getJam(Long agvId, Long jamCode, Long jamSeg);
- List<Jam> hasUnfinishedOriginJamByAvo(Long avoAgv, Long currCode, Long currSeg);
+ List<Jam> getUnfinishedOriginJamByAvo(Long avoAgv, Long currCode, Long currSeg);
Jam getCycleJam(Long jamAgv, Long jamSeg, String avoAgvNo);
+ List<Jam> getJamFromSegmentByAvo(Segment jamSeg, String avoAgvNo);
+
List<Jam> queryByAvoid(Long avoAgv, JamStateType jamState);
Boolean checkIfFinish(Long avoAgv, String currCodeData);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/JamServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/JamServiceImpl.java
index 4dd476f..2569b2c 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/JamServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/JamServiceImpl.java
@@ -3,8 +3,10 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
+import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.mapper.JamMapper;
import com.zy.acs.manager.manager.service.AgvService;
@@ -45,7 +47,7 @@
* 浣犵殑涓嬩竴涓猻egment鏄笉鏄張浼氬鑷撮樆濉�
*/
@Override
- public List<Jam> hasUnfinishedOriginJamByAvo(Long avoAgv, Long currCode, Long currSeg) {
+ public List<Jam> getUnfinishedOriginJamByAvo(Long avoAgv, Long currCode, Long currSeg) {
return this.baseMapper.selectUnfinishedJamByAvo(avoAgv, null, null);
}
@@ -65,6 +67,12 @@
}
@Override
+ public List<Jam> getJamFromSegmentByAvo(Segment jamSeg, String avoAgvNo) {
+ Agv avoAgv = agvService.selectByUuid(avoAgvNo);
+ return this.baseMapper.selectJamFromSegmentByAvo(jamSeg.getId(), avoAgv.getId());
+ }
+
+ @Override
public List<Jam> queryByAvoid(Long avoAgv, JamStateType jamState) {
if (null == avoAgv) {
return null;
diff --git a/zy-acs-manager/src/main/resources/mapper/manager/JamMapper.xml b/zy-acs-manager/src/main/resources/mapper/manager/JamMapper.xml
index 72d732b..b5b38d5 100644
--- a/zy-acs-manager/src/main/resources/mapper/manager/JamMapper.xml
+++ b/zy-acs-manager/src/main/resources/mapper/manager/JamMapper.xml
@@ -41,4 +41,16 @@
</if>
</select>
+ <select id="selectJamFromSegmentByAvo" resultType="com.zy.acs.manager.manager.entity.Jam">
+ SELECT
+ mj.*
+ FROM man_jam mj
+ LEFT JOIN man_segment jam_seg ON mj.jam_seg = jam_seg.id
+ LEFT JOIN man_segment avo_seg ON mj.avo_seg = avo_seg.id
+ WHERE 1=1
+ AND avo_seg.state NOT IN ('INIT', 'WAITING')
+ AND mj.jam_seg = #{jamSeg}
+ AND mj.avo_agv = #{avoAgv}
+ </select>
+
</mapper>
--
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