From fb0e407cf53d37d55fce3294b54379b5caa8270e Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 29 十一月 2024 14:57:22 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 30 +++++-------------------------
1 files changed, 5 insertions(+), 25 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 ce7c2ab..64ba32f 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
@@ -59,32 +59,15 @@
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
-// List<String> included = new ArrayList<>();
-// if (!Cools.isEmpty(whiteList)) {
-// included.addAll(whiteList);
-// }
-// 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
NavigateNode currentNode = openQueue.poll();
- // 瀵瑰綋鍓嶇粨鐐硅繘琛屾墿灞曪紝寰楀埌涓�涓洓鍛ㄧ粨鐐圭殑鏁扮粍
+
ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
- // 瀵硅繖涓粨鐐归亶鍘嗭紝鐪嬫槸鍚︽湁鐩爣缁撶偣鍑虹幇
- label: for (NavigateNode node : neighbourNodes) {
+ for (NavigateNode node : neighbourNodes) {
+ boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
+
int weight = 0;
- // 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;
-// }
-// }
-// }
if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
continue;
@@ -146,16 +129,13 @@
}
if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
-// if (lock) {
-// continue;
-// }
continue;
}
}
//鎵惧埌鐩爣缁撶偣灏辫繑鍥�
- if (node.getX() == end.getX() && node.getY() == end.getY()) {
+ if (isEndNode) {
//骞朵笖璁＄畻鍑篏锛� F锛� H绛夊��
node.initNode(currentNode, end);
return node;
--
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