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/MapService.java | 55 ++++++++++++++++++++++---------------------------------
1 files changed, 22 insertions(+), 33 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 c7c9dd0..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
@@ -17,6 +17,7 @@
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
import java.util.*;
@@ -29,6 +30,8 @@
@Component("mapService")
public class MapService {
+ @Value("${floyd.enable}")
+ private Boolean floydEnable;
@Autowired
private CodeService codeService;
@Autowired
@@ -54,7 +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());
@@ -92,6 +97,9 @@
* 瀵诲潃 ===>> Floyd
*/
public synchronized List<String> validFeasibility(Code startCode, Code endCode) {
+ if (!floydEnable) {
+ return Arrays.asList("00000001", "00000002", "00000003", "00000004", "00000005", "00000006");
+ }
int startIdx = floydNavigateService.codeIdx(startCode.getId());
int endIdx = floydNavigateService.codeIdx(endCode.getId());
@@ -198,14 +206,20 @@
Integer serial = dynamicNode.getSerial();
+ long time = dynamicNode.getTime();
List<String> resetCodeList = new ArrayList<>();
for (int i = 0; i < dynamicMatrix.length; i++) {
for (int j = 0; j < dynamicMatrix[i].length; j++) {
+
+ if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
+
DynamicNode node = dynamicMatrix[i][j];
- if (node.getVehicle().equals(agvNo) && node.getSerial() < serial) {
- resetCodeList.add(codeMatrix[i][j]);
+ if (node.getVehicle().equals(agvNo)) {
+ if (node.getSerial() < serial || node.getTime() != time) {
+ resetCodeList.add(codeMatrix[i][j]);
+ }
}
}
}
@@ -221,7 +235,7 @@
}
} catch (Exception e) {
- log.error("TrafficService.unlockPath", e);
+ log.error("MapService.unlockPath", e);
}
}
@@ -253,7 +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);
@@ -265,7 +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();
@@ -277,7 +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();
@@ -287,7 +301,7 @@
return;
}
- if (this.isExist(nextNode, existNodes)) {
+ if (existNodes.contains(nextNode)) {
return;
}
@@ -313,22 +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 ------------------------------------------------------------------------------
@@ -380,7 +378,7 @@
}
// If the node has already been visited, skip it
- if (this.isExist0(nextNode, visited)) {
+ if (visited.contains(nextNode)) {
return;
}
@@ -408,15 +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;
}
--
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