From ff7f41f5d6c99bff4a1d85a5b3342eec5a8fee0c Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 07 十一月 2024 08:52:34 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 67 +++++++++++++++++++++------------
1 files changed, 42 insertions(+), 25 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 d4a2e08..6d89a53 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_FACTOR = 10000;
@Autowired
private CodeService codeService;
@@ -79,6 +79,7 @@
openQueue.add(start);
existNodes.add(start);
+ boolean phaseSecond = true;
while (openQueue.size() > 0 && null == finialNode) {
@@ -87,6 +88,7 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
+ boolean pointOfTurn = neighborNodes.size() >= 2;
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
@@ -103,35 +105,46 @@
continue label;
}
if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ phaseSecond = false; // there is a way to go
continue label;
} else {
- weight += WEIGHT_CALC_COEFFICIENT;
+ weight += WEIGHT_CALC_FACTOR;
}
}
}
// lane
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
- Set<String> lanVehicleSet = new HashSet<>();
+ if (pointOfTurn) {
+ Lane lane = laneService.search(node.getCodeData());
+ if (null != lane) {
+ Set<String> lanVehicleSet = new HashSet<>();
- 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)) {
- lanVehicleSet.add(laneVehicle);
-// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
+ for (String laneCodeData : lane.getCodes()) {
+ // overlap with sponsor
+ if (avoidPathList.contains(laneCodeData)) {
+ lanVehicleSet.add(sponsor);
+ }
+
+ 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)) {
+ lanVehicleSet.add(laneVehicle);
+// redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
+ }
}
}
- }
- if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
- continue;
+ if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
+ phaseSecond = false; // there is a way to go
+ continue;
+ }
+ if (lanVehicleSet.contains(sponsor)) {
+ weight += WEIGHT_CALC_FACTOR * 2;
+ }
}
}
@@ -159,7 +172,7 @@
}
- if (null == finialNode) {
+ if (null == finialNode && phaseSecond) {
// assert openQueue.size() == 0;
existNodes.clear();
@@ -169,6 +182,7 @@
RetreatNavigateNode availablePointOfTurn = null;
List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
int actualLanesOfTurn = 0;
+ int filterPointOfTurnTimes = 0;
while (openQueue.size() > 0 && null == finialNode) {
@@ -181,14 +195,16 @@
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 +213,7 @@
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);
}
}
}
@@ -215,6 +231,8 @@
availablePointOfTurn = currentNode;
availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
.stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ } else {
+ actualLanesOfTurn = 0;
}
}
}
@@ -238,10 +256,9 @@
if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
actualLanesOfTurn --;
}
-
continue label;
} else {
- weight += WEIGHT_CALC_COEFFICIENT;
+ weight += WEIGHT_CALC_FACTOR;
}
}
}
--
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