From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 48 +++++++++++++++++++-----------------------------
1 files changed, 19 insertions(+), 29 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 5b13f69..24bb499 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
@@ -1,19 +1,16 @@
package com.zy.acs.manager.core.service;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
-import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
-import com.zy.acs.manager.manager.entity.Route;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.service.*;
@@ -23,6 +20,7 @@
import org.springframework.stereotype.Service;
import java.util.*;
+import java.util.concurrent.CopyOnWriteArrayList;
import java.util.stream.Collectors;
/**
@@ -38,8 +36,6 @@
@Autowired
private CodeService codeService;
- @Autowired
- private RouteService routeService;
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
@@ -71,7 +67,7 @@
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
List<String> blackList = Utils.singletonList(sponsor);
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
+ Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
@@ -95,7 +91,7 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
+ List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
boolean pointOfTurn = neighborNodes.size() >= 2;
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
@@ -112,7 +108,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue label;
}
- if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
phaseSecond = false; // there is a running way
continue label;
} else {
@@ -123,29 +119,26 @@
// lane
if (pointOfTurn) {
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
+ List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ if (!Cools.isEmpty(laneCodeIdxList)) {
Set<String> lanVehicleSet = new HashSet<>();
- for (String laneCodeData : lane.getCodes()) {
+ for (int[] codeMatrixIdx : laneCodeIdxList) {
// overlap with sponsor
+ String laneCodeData = codeMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
if (avoidPathList.contains(laneCodeData)) {
lanVehicleSet.add(sponsor);
}
- int[] laneCodeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, laneCodeData);
- // scan dynamicMatrix or WaveMatrix
- DynamicNode laneDynamicNode = dynamicMatrix[laneCodeMatrixIdx[0]][laneCodeMatrixIdx[1]];
+ DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[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) {
phaseSecond = false; // there is a running way
continue;
@@ -154,9 +147,10 @@
weight += WEIGHT_CALC_FACTOR * 2;
}
}
+
}
- Code code = codeService.selectByData(node.getCodeData());
+ Code code = codeService.getCacheByData(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
@@ -212,7 +206,7 @@
RetreatNavigateNode currentNode = openQueue.poll();
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
+ 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) {
@@ -223,24 +217,20 @@
for (RetreatNavigateNode node : neighborNodes) {
// lane
- Lane lane = laneService.search(node.getCodeData());
- if (null != lane) {
+ List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ if (!Cools.isEmpty(laneCodeIdxList)) {
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]];
+ for (int[] codeMatrixIdx : laneCodeIdxList) {
+ DynamicNode laneDynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[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;
}
@@ -274,7 +264,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue;
}
- if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
actualLanesOfTurn --;
@@ -319,12 +309,12 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) {
+ 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<>();
List<RetreatNavigateNode> possibleNodes = Arrays.asList(
new RetreatNavigateNode(x, y + 1), // right
--
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