From e6c977aadbd6fdfa9c0d4be5d16dd83cf4677a79 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 15 十一月 2024 15:12:48 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 27 ++++++++++++---------------
1 files changed, 12 insertions(+), 15 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 2e41211..37109bb 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
@@ -14,9 +14,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.PriorityQueue;
+import java.util.*;
/**
* Created by vincent on 6/12/2024
@@ -85,6 +83,10 @@
// }
// }
+ if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
+ continue;
+ }
+
// 鑺傜偣琚崰鐢�
DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
String vehicle = dynamicNode.getVehicle();
@@ -92,9 +94,6 @@
if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!vehicle.equals(agvNo)) {
- if (!Cools.isEmpty(blackList) && blackList.contains(vehicle)) {
- continue;
- }
if (lock) {
continue;
}
@@ -109,9 +108,6 @@
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
- continue;
- }
if (lock) {
continue;
@@ -122,7 +118,7 @@
// 鍗曞贩閬撹溅杈嗗杞芥暟閲�
Lane lane = laneService.search(node.getCodeData());
if (null != lane) {
- int otherVehicleCount = 0;
+ Set<String> lanVehicleSet = new HashSet<>();
List<String> laneCodes = lane.getCodes();
for (String laneCodeData : laneCodes) {
@@ -133,16 +129,17 @@
assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!laneVehicle.equals(agvNo)) {
- otherVehicleCount++;
+ lanVehicleSet.add(laneVehicle);
// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
}
}
}
- if (otherVehicleCount + 1 > maxAgvCountInLane) {
- if (lock) {
- continue;
- }
+ if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
+// if (lock) {
+// continue;
+// }
+ continue;
}
}
--
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