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/astart/AStarNavigateService.java | 70 ++++++++++++++++++++++++++---------
1 files changed, 52 insertions(+), 18 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 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��
--
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