From fe4c6c0439e0dc00f0b09d1818735065d38d3078 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 05 十一月 2024 17:11:07 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 28 ++++++++++++++++------------
1 files changed, 16 insertions(+), 12 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 a0a6f4d..4e66ed4 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
@@ -31,7 +31,7 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
- public static final int WEIGHT_CALC_COEFFICIENT = 1000;
+ public static final int WEIGHT_CALC_COEFFICIENT = 10000;
@Autowired
private CodeService codeService;
@@ -168,7 +168,8 @@
RetreatNavigateNode availablePointOfTurn = null;
List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
- int actuallyLanesOfTurn = 0;
+ int actualLanesOfTurn = 0;
+ int filterPointOfTurnTimes = 0;
while (openQueue.size() > 0 && null == finialNode) {
@@ -181,14 +182,16 @@
if (null == availablePointOfTurn) {
// 璁＄畻鏄惁涓哄彲鐢ㄨ浆寮偣
if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
+ filterPointOfTurnTimes ++;
+ if (filterPointOfTurnTimes > 2) { break; }
+
for (RetreatNavigateNode node : neighborNodes) {
// lane
Lane lane = laneService.search(node.getCodeData());
if (null != lane) {
Set<String> lanVehicleSet = new HashSet<>();
- List<String> laneCodes = lane.getCodes();
- for (String laneCodeData : laneCodes) {
+ for (String laneCodeData : lane.getCodes()) {
int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
// scan dynamicMatrix or WaveMatrix
DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
@@ -197,7 +200,7 @@
if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!laneVehicle.equals(agvNo)) {
lanVehicleSet.add(laneVehicle);
- // redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
+// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
}
}
}
@@ -207,14 +210,16 @@
}
}
- actuallyLanesOfTurn ++;
+ actualLanesOfTurn ++;
}
// 鏈変袱鏉′互涓婂彲璧板贩閬擄紝鍒欒涓烘湁鏁堣浆寮偣
- if (actuallyLanesOfTurn >= 2) {
+ if (actualLanesOfTurn >= 2) {
availablePointOfTurn = currentNode;
availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
.stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ } else {
+ actualLanesOfTurn = 0;
}
}
}
@@ -235,10 +240,9 @@
}
if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
- if (null != availablePointOfTurn && actuallyLanesOfTurn > 0) {
- actuallyLanesOfTurn --;
+ if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
+ actualLanesOfTurn --;
}
-
continue label;
} else {
weight += WEIGHT_CALC_COEFFICIENT;
@@ -259,10 +263,10 @@
existNodes.add(node);
}
- if (actuallyLanesOfTurn < 2) {
+ if (actualLanesOfTurn < 2) {
availablePointOfTurn = null;
availablePointWaveScopeOfTurn = new ArrayList<>();
- actuallyLanesOfTurn = 0;
+ actualLanesOfTurn = 0;
} else {
if (!Cools.isEmpty(enableNodes)) {
Collections.sort(enableNodes);
--
Gitblit v1.9.1