From c3db115095084be321594058fb545578c4d4f32b Mon Sep 17 00:00:00 2001 From: luxiaotao1123 <t1341870251@163.com> Date: 星期三, 25 十二月 2024 15:04:52 +0800 Subject: [PATCH] # --- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 9 +++++---- version/db/mock/50-20241225.rar | 0 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 35 +++++------------------------------ 3 files changed, 10 insertions(+), 34 deletions(-) diff --git a/version/db/mock/50-20241225.rar b/version/db/mock/50-20241225.rar new file mode 100644 index 0000000..9c82952 --- /dev/null +++ b/version/db/mock/50-20241225.rar Binary files differ diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java index 99fae76..b87f448 100644 --- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java @@ -101,8 +101,8 @@ return false; } - return this.calcWaveScopeByPython(lev); -// return this.calcWaveScopeByJava(lev); +// return this.calcWaveScopeByPython(lev); + return this.calcWaveScopeByJava(lev); } catch (Exception e) { @@ -177,6 +177,9 @@ } private boolean calcWaveScopeByJava(Integer lev) throws Exception { + AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()); // can be optimized + Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR); + // java String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev); String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev); @@ -188,9 +191,7 @@ DynamicNode dynamicNode = dynamicMatrix[i][j]; String vehicle = dynamicNode.getVehicle(); if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) { - AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel()); // can be optimized - Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR); List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance); for (NavigateNode navigateNode : includeList) { 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 5cd7493..a6cc742 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 @@ -267,7 +267,7 @@ 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); @@ -279,7 +279,7 @@ 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(); @@ -291,7 +291,7 @@ 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(); @@ -301,7 +301,7 @@ return; } - if (this.isExist(nextNode, existNodes)) { + if (existNodes.contains(nextNode)) { return; } @@ -327,22 +327,6 @@ } } - } - - 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 ------------------------------------------------------------------------------ @@ -394,7 +378,7 @@ } // If the node has already been visited, skip it - if (this.isExist0(nextNode, visited)) { + if (visited.contains(nextNode)) { return; } @@ -422,15 +406,6 @@ queue.offer(nextNode); } } - } - - private boolean isExist0(NavigateNode node, Set<NavigateNode> existNodes) { - for (NavigateNode existNode : existNodes) { - if (this.isSame(node, existNode)) { - return true; - } - } - return false; } -- Gitblit v1.9.1