From d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 17 十二月 2024 09:58:39 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 37 +++++++++++++++++++++++--------------
1 files changed, 23 insertions(+), 14 deletions(-)
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 0ebf382..0f4def0 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
@@ -4,7 +4,6 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.Lane;
-import com.zy.acs.manager.core.domain.type.BlockSeverityType;
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;
@@ -26,7 +25,7 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE;
+ public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.TRUE;
public static final int WEIGHT_CALC_FACTOR = 1;
@@ -44,7 +43,7 @@
private ConfigService configService;
public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
- , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {
+ , Boolean lock, List<String> blackList, Segment segment) {
if (start.getX() == end.getX() && start.getY() == end.getY()) {
return end;
}
@@ -73,6 +72,14 @@
if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
continue;
}
+ // 鐗规畩鎯呭喌锛屽綋blackList鏈変笖鍙湁涓�涓厓绱犱笖涓簊tartNode鏃�
+ // 璇存槑blackList宸茬粡鐭ラ亾褰撳墠瀵艰埅璧峰鐐瑰拰鐩爣鐐逛负鐩搁偦鑺傜偣
+ // 浣嗘槸褰撳墠blackList鐨勪换鍔℃槸涓嶈绯荤粺璧扮浉閭荤殑鏈�鐭矾寰勶紝鎵�浠ユ墠浼氭湁涓嬮潰鐨勫垽鏂拰continue
+ if (blackList.size() == 1 && blackList.get(0).equals(start.getCodeData())) {
+ if (isEndNode && currentNode.getCodeData().equals(start.getCodeData())) {
+ continue;
+ }
+ }
// 鑺傜偣琚崰鐢�
DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
@@ -81,10 +88,13 @@
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�
+ // 濡傛灉瀛樺湪杞﹁締锛屽垯澧炲姞鏉冮噸 2 鎴栬�� 3锛屽洜涓烘嫄鐐逛細澧炲姞鏉冮噸 1
+ // vehicle宸茬粡涓哄綋鍓峴egment鍋氳繃浜嗛伩璁╋紝涓旈伩璁╀换鍔″凡瀹屾垚锛屽垯鏉冮噸鍊煎鍔�
if (null != segment) {
if (!Cools.isEmpty(jamService.getJamFromSegmentByAvo(segment, vehicle))) {
- weight += WEIGHT_CALC_FACTOR;
+ weight += (WEIGHT_CALC_FACTOR * 3);
+ } else {
+ weight += (WEIGHT_CALC_FACTOR * 2);
}
}
@@ -143,7 +153,11 @@
}
// G + H + T (瀵瑰惎鍙戝嚱鏁板鍔犲幓鎷愮偣鏂规calcNodeTurnCost)
- int gCost = calcNodeCost(currentNode, node) * (OPEN_TURN_COST_WEIGHT ? calcNodeTurnCost(currentNode, node, end) : 1);
+ int gCost = calcNodeCost(currentNode, node);
+
+ if (OPEN_TURN_COST_WEIGHT) {
+ gCost += calcNodeTurnCost(currentNode, node, end);
+ }
//杩涜璁＄畻瀵� G, F, H 绛夊��
node.setWeight(weight);
@@ -321,21 +335,16 @@
|| nextNode.getX() == currNode.getParent().getX()
|| nextNode.getY() == currNode.getParent().getY()
) {
- return 1;
+ return 0;
}
// 鎷愬悜缁堢偣鐨勭偣
if (nextNode.getX() == endNode.getX() || nextNode.getY() == endNode.getY()) {
- return 2;
+ return 1;
}
// 鏅�氭嫄鐐�
- /*
- 鎷愮偣鍒ゆ柇閫昏緫
- 鎷垮埌鐖惰妭鐐瑰拰涓嬩竴鑺傜偣
- 閫氳繃鍒ゆ柇鐖惰妭鐐瑰拰涓嬩竴鑺傜偣鐨剎鏁版嵁鍜寉鏁版嵁閮戒笉鐩稿悓鏃讹紝鍒欒〃鏄庡綋鍓嶅潗鏍囨槸涓�涓嫄鐐�
- */
- return 3;
+ return 1;
}
}
--
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