From f941a47ccd057a719eef4db7decf13bf9ad2a4f8 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 25 十二月 2024 11:13:11 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 79 ++++++++++++++-------------------------
1 files changed, 28 insertions(+), 51 deletions(-)
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 594d12a..0451ee4 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
@@ -23,6 +23,7 @@
import org.springframework.stereotype.Service;
import java.util.*;
+import java.util.concurrent.CopyOnWriteArrayList;
import java.util.stream.Collectors;
/**
@@ -75,6 +76,7 @@
, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
+ String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
@@ -94,11 +96,10 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
+ List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
boolean pointOfTurn = neighborNodes.size() >= 2;
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
- Code code = codeService.selectByData(node.getCodeData());
int weight = 0;
@@ -156,6 +157,8 @@
}
}
+ Code code = codeService.selectByData(node.getCodeData());
+
// judge whether the node has already been marked as a retreat node?
// This is a very troublesome matter, if the node be repeatedly mark as a retreat node
List<Segment> runningSegments = segmentService.getRunningByEndCode(code.getId());
@@ -210,7 +213,7 @@
RetreatNavigateNode currentNode = openQueue.poll();
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
+ List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
// 绗竴姝ワ細鑾峰彇鏈夋晥杞集鐐�
if (null == availablePointOfTurn) {
@@ -317,32 +320,25 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes) {
+ private List<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) {
int x = currentNode.getX();
int y = currentNode.getY();
- ArrayList<RetreatNavigateNode> neighbourNodes = new ArrayList<>();
+ List<RetreatNavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();
- RetreatNavigateNode rightNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x, y + 1), existNodes, null, null);
- if (null != rightNode) {
- neighbourNodes.add(rightNode);
- }
+ List<RetreatNavigateNode> possibleNodes = Arrays.asList(
+ new RetreatNavigateNode(x, y + 1), // right
+ new RetreatNavigateNode(x, y - 1), // left
+ new RetreatNavigateNode(x - 1, y), // up
+ new RetreatNavigateNode(x + 1, y) // down
+ );
- RetreatNavigateNode leftNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x, y - 1), existNodes, null, null);
- if (null != leftNode) {
- neighbourNodes.add(leftNode);
- }
-
- RetreatNavigateNode topNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x - 1, y), existNodes, null, null);
- if (null != topNode) {
- neighbourNodes.add(topNode);
- }
-
- RetreatNavigateNode bottomNode = extendNeighborNodes(currentNode, new RetreatNavigateNode(x + 1, y), existNodes, null, null);
- if (null != bottomNode) {
- neighbourNodes.add(bottomNode);
- }
+ possibleNodes.parallelStream()
+ .map(extendNode -> extendNeighborNodes(currentNode, extendNode, existNodes, null, null))
+ .filter(Objects::nonNull)
+ .peek(node -> node.setCodeData(codeMatrix[node.getX()][node.getY()]))
+ .forEach(neighbourNodes::add);
return neighbourNodes;
}
@@ -371,40 +367,21 @@
if (mapMatrix[x][y] == MapNodeType.DISABLE.val) {
return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);
+ }
- } else {
- if (existNodes.contains(nextNode)) {
- return null;
- }
+ assert mapMatrix[x][y] == MapNodeType.ENABLE.val;
- // 鑺傜偣鏄惁鍙敤
- if (mapMatrix[x][y] != MapNodeType.ENABLE.val) {
- return null;
- }
+ if (existNodes.contains(nextNode)) {
+ return null;
+ }
- String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
- String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
- String nextNodeCodeData = codeMatrix[nextNode.getX()][nextNode.getY()];
- nextNode.setCodeData(nextNodeCodeData);
-
- // 鍒ゆ柇閫氳繃鎬�
- String routeKey = RouteGenerator.generateRouteKey(currentNodeCodeData, nextNodeCodeData);
- Object routeVal = redis.getMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey);
- if (routeVal == null || !(Boolean) routeVal) {
- return null;
- }
+ // 鍒ゆ柇閫氳繃鎬�
+ String routeCdaKey = RouteGenerator.generateRouteCdaKey(new int[]{currentNode.getX(), currentNode.getY()}, new int[]{nextNode.getX(), nextNode.getY()});
+ if (!mapDataDispatcher.validRouteCdaKey(routeCdaKey)) {
+ return null;
}
return nextNode;
- }
-
- private boolean isExist(RetreatNavigateNode node, List<RetreatNavigateNode> existNodes) {
- for (RetreatNavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
}
private boolean isSame(RetreatNavigateNode o1, RetreatNavigateNode o2) {
--
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