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 | 144 +++++++++++++++++++++++++++---------------------
1 files changed, 81 insertions(+), 63 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 2de4a3a..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();
@@ -168,7 +181,8 @@
RetreatNavigateNode availablePointOfTurn = null;
List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
- int actuallyLanesOfTurn = 0;
+ int actualLanesOfTurn = 0;
+ int filterPointOfTurnTimes = 0;
while (openQueue.size() > 0 && null == finialNode) {
@@ -176,51 +190,54 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
- boolean pointOfTurn = false;
- if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
- pointOfTurn = true;
- }
- // 璁＄畻鏄惁涓哄彲鐢ㄨ浆寮偣
- if (pointOfTurn) {
- for (RetreatNavigateNode node : neighborNodes) {
- // lane
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
- Set<String> lanVehicleSet = new HashSet<>();
+ // 绗竴姝ワ細鑾峰彇鏈夋晥杞集鐐�
+ 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; }
- 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 (RetreatNavigateNode node : neighborNodes) {
+ // lane
+ Lane lane = laneService.search(node.getCodeData());
+ if (null != lane) {
+ Set<String> lanVehicleSet = new HashSet<>();
+
+ for (String laneCodeData : lane.getCodes()) {
+ 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) {
- continue;
- }
+ actualLanesOfTurn ++;
}
- actuallyLanesOfTurn ++;
+ // 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 (actualLanesOfTurn >= 2) {
+ availablePointOfTurn = currentNode;
+ availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
+ .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ } else {
+ actualLanesOfTurn = 0;
+ }
}
-
- if (actuallyLanesOfTurn >= 2) {
- availablePointOfTurn = currentNode;
- availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
- .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
- }
-
}
-
+ // 寤朵几杞集鐐瑰贩閬�
label: for (RetreatNavigateNode node : neighborNodes) {
int weight = 0;
@@ -236,13 +253,12 @@
}
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;
+ weight += WEIGHT_CALC_FACTOR;
}
}
}
@@ -260,10 +276,12 @@
existNodes.add(node);
}
-
- if (!Cools.isEmpty(enableNodes)) {
-
- if (actuallyLanesOfTurn >= 2) {
+ if (actualLanesOfTurn < 2) {
+ availablePointOfTurn = null;
+ availablePointWaveScopeOfTurn = new ArrayList<>();
+ actualLanesOfTurn = 0;
+ } else {
+ if (!Cools.isEmpty(enableNodes)) {
Collections.sort(enableNodes);
finialNode = enableNodes.stream().findFirst().orElse(null);
jam.setCycleAvo(1);
--
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