From ddb8ec316edb1400228eb4dbb4423b5659d110bf Mon Sep 17 00:00:00 2001 From: luxiaotao1123 <t1341870251@163.com> Date: 星期五, 01 十一月 2024 16:49:37 +0800 Subject: [PATCH] # --- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 2 zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java | 10 ---- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 70 ++++++++++++++++++++++++++--------- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneService.java | 4 +- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 6 +- 5 files changed, 59 insertions(+), 33 deletions(-) diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java index 45604bd..f744fd9 100644 --- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java @@ -1,13 +1,12 @@ package com.zy.acs.manager.common.utils; import com.alibaba.fastjson.JSON; -import com.zy.acs.manager.core.service.astart.WaveNodeType; import com.zy.acs.framework.common.Cools; +import com.zy.acs.manager.core.service.astart.WaveNodeType; import java.util.ArrayList; import java.util.List; import java.util.Optional; -import java.util.stream.Collectors; /** * Created by vincent on 8/7/2024 @@ -36,13 +35,6 @@ } list.removeIf(next -> next.equals(vehicle)); return list; - } - - public static List<String> hasIntersection(List<String> l0, List<String> l1) { - if (Cools.isEmpty(l0, l1)) { - return new ArrayList<>(); - } - return l0.stream().filter(l1::contains).collect(Collectors.toList()); } public static String generateWaveNode(String originStr, String waveNode) { diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneService.java index e03bc62..de0feff 100644 --- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneService.java +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/LaneService.java @@ -68,7 +68,7 @@ this.mergeDeadEndLane(); - this.deadInteractionPoint(); + this.deleteInteractionPoint(); this.filterLanesWithFewPoints(); @@ -262,7 +262,7 @@ } } - private void deadInteractionPoint() { + private void deleteInteractionPoint() { for (Lane lane : this.lanes) { lane.removeInteraction(this.adjacencyCodeMap); } 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 df62c1f..86c4139 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 @@ -41,14 +41,14 @@ private ActionService actionService; public List<String> checkoutPath(String agvNo, Code startCode, Code endCode, Boolean lock) { - return this.checkoutPath(agvNo, startCode, endCode, lock, null, null); + 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> whiteList, List<String> blackList) { + , Boolean lock, List<String> blackList) { int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData()); int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData()); @@ -56,7 +56,7 @@ 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, whiteList, blackList); + NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList); 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/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java index 0a57d35..a7fdc00 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 @@ -89,7 +89,7 @@ List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo); if (!Cools.isEmpty(otherWaveList)) { - if (!Cools.isEmpty(blackList) && !Cools.isEmpty(MapDataUtils.hasIntersection(otherWaveList, blackList))) { + if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) { continue; } 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 6179fa3..d643bfb 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 @@ -2,12 +2,14 @@ import com.zy.acs.framework.common.Cools; import com.zy.acs.manager.common.utils.MapDataUtils; -import com.zy.acs.manager.core.domain.VehicleDto; +import com.zy.acs.manager.core.domain.Lane; +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.service.CodeService; import com.zy.acs.manager.manager.service.RouteService; +import com.zy.acs.manager.system.service.ConfigService; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; @@ -21,6 +23,8 @@ @Service public class AStarNavigateService { + public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE; + @Autowired private CodeService codeService; @Autowired @@ -29,14 +33,17 @@ private MapDataDispatcher mapDataDispatcher; @Autowired private AgvService agvService; - - public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.FALSE; + @Autowired + private LaneService laneService; + @Autowired + private ConfigService configService; public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end - , Boolean lock, List<String> whiteList, List<String> blackList) { + , Boolean lock, List<String> blackList) { if (start.getX() == end.getX() && start.getY() == end.getY()) { return end; } + Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class); PriorityQueue<NavigateNode> openQueue = new PriorityQueue<>(); ArrayList<NavigateNode> existNodes = new ArrayList<>(); @@ -48,12 +55,12 @@ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null); String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null); - List<String> included = new ArrayList<>(); +// List<String> included = new ArrayList<>(); // if (!Cools.isEmpty(whiteList)) { // included.addAll(whiteList); // } - included.add(agvNo); - List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included); +// included.add(agvNo); +// List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included); while (openQueue.size() > 0) { // 鍙栦紭鍏堥槦鍒楅《閮ㄥ厓绱犲苟涓旀妸杩欎釜鍏冪礌浠嶰pen琛ㄤ腑鍒犻櫎锛屽彇F鍊兼渶灏忕殑鑺傜偣 @@ -64,16 +71,16 @@ label: for (NavigateNode node : neighbourNodes) { // 鑺傜偣瀛樺湪鍏朵粬杞﹁締 - for (VehicleDto vehicleDto : vehicleDtoList) { - if (node.getCodeData().equals(vehicleDto.getPosCode())) { - if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) { - continue label; - } - if (lock) { - continue label; - } - } - } +// for (VehicleDto vehicleDto : vehicleDtoList) { +// if (node.getCodeData().equals(vehicleDto.getPosCode())) { +// if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) { +// continue label; +// } +// if (lock) { +// continue label; +// } +// } +// } // 鑺傜偣琚崰鐢� DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()]; @@ -99,7 +106,7 @@ List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo); if (!Cools.isEmpty(otherWaveList)) { - if (!Cools.isEmpty(blackList) && !Cools.isEmpty(MapDataUtils.hasIntersection(otherWaveList, blackList))) { + if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) { continue; } @@ -109,6 +116,33 @@ } } + // 鍗曞贩閬撹溅杈嗗杞芥暟閲� + Lane lane = laneService.search(node.getCodeData()); + if (null != lane) { + int otherVehicleCount = 0; + + List<String> laneCodes = lane.getCodes(); + for (String laneCodeData : laneCodes) { + int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData); + // scan dynamicMatrix or WaveMatrix + DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]]; + String laneVehicle = laneDynamicNode.getVehicle(); + assert !laneVehicle.equals(DynamicNodeType.BLOCK.val); + if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) { + if (!laneVehicle.equals(agvNo)) { + otherVehicleCount++; + } + } + } + + if (otherVehicleCount + 1 > maxAgvCountInLane) { + if (lock) { + continue; + } + } + } + + //鎵惧埌鐩爣缁撶偣灏辫繑鍥� if (node.getX() == end.getX() && node.getY() == end.getY()) { //骞朵笖璁$畻鍑篏锛� F锛� H绛夊�� -- Gitblit v1.9.1