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/astart/AStarNavigateService.java | 50 ++++++++++++++++++++++++++++----------------------
1 files changed, 28 insertions(+), 22 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 ef32661..a7ea660 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
@@ -15,7 +15,6 @@
import org.springframework.stereotype.Service;
import java.util.*;
-import java.util.concurrent.CopyOnWriteArrayList;
/**
* Created by vincent on 6/12/2024
@@ -29,6 +28,9 @@
public static final boolean OPEN_TURN_COST_WEIGHT = Boolean.TRUE;
public static final int WEIGHT_CALC_FACTOR = 1;
+
+ // right left up down
+ private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
@Autowired
private MapDataDispatcher mapDataDispatcher;
@@ -63,15 +65,23 @@
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
+
+ long getNeighborNodesTime = 0;
+ int getNeighborNodesCount = 0;
+
while (!openQueue.isEmpty()) {
// 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
AStarNavigateNode currentNode = openQueue.poll();
// 缁堢偣
if (currentNode.getX() == end.getX() && currentNode.getY() == end.getY()) {
+// System.out.println("getNeighborNodes spend time: " + getNeighborNodesTime +", count: " + getNeighborNodesCount);
return currentNode;
}
+ long currentTime = System.currentTimeMillis();
List<AStarNavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
+ getNeighborNodesTime += System.currentTimeMillis() - currentTime;
+ getNeighborNodesCount ++;
for (AStarNavigateNode node : neighbourNodes) {
node.setCodeData(codeMatrix[node.getX()][node.getY()]);
@@ -97,6 +107,9 @@
assert !vehicle.equals(DynamicNodeType.BLOCK.val);
if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!vehicle.equals(agvNo)) {
+ if (lock) {
+ continue;
+ }
// 濡傛灉瀛樺湪杞﹁締锛屽垯澧炲姞鏉冮噸 2 鎴栬�� 3锛屽洜涓烘嫄鐐逛細澧炲姞鏉冮噸 1
// vehicle宸茬粡涓哄綋鍓峴egment鍋氳繃浜嗛伩璁╋紝涓旈伩璁╀换鍔″凡瀹屾垚锛屽垯鏉冮噸鍊煎鍔�
@@ -107,10 +120,6 @@
weight += (WEIGHT_CALC_FACTOR * 2);
}
}
-
- if (lock) {
- continue;
- }
}
}
@@ -120,7 +129,6 @@
if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
-
if (!Cools.isEmpty(otherWaveList)) {
if (lock) {
@@ -178,12 +186,9 @@
// existNodes.add(node);
}
}
-
+// System.out.println("getNeighborNodes spend time: " + getNeighborNodesTime +", count: " + getNeighborNodesCount);
return null;
}
-
- // right left up down
- private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
// 鑾峰彇鍥涘懆鑺傜偣
private List<AStarNavigateNode> getNeighborNodes(AStarNavigateNode currentNode, int[][] mapMatrix, Set<AStarNavigateNode> existNodes) {
@@ -191,14 +196,8 @@
int y = currentNode.getY();
AStarNavigateNode parent = currentNode.getParent();
- List<AStarNavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();
-
-// List<AStarNavigateNode> possibleNodes = Arrays.asList(
-// new AStarNavigateNode(x, y + 1), // right
-// new AStarNavigateNode(x, y - 1), // left
-// new AStarNavigateNode(x - 1, y), // up
-// new AStarNavigateNode(x + 1, y) // down
-// );
+// List<AStarNavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();
+ List<AStarNavigateNode> neighbourNodes = new ArrayList<>();
List<AStarNavigateNode> possibleNodes = new ArrayList<>();
for (int[] d: DIRECTIONS) {
@@ -211,10 +210,17 @@
possibleNodes.add(new AStarNavigateNode(nx, ny));
}
- possibleNodes.parallelStream()
- .map(extendNode -> extendNeighborNodes(currentNode, extendNode, mapMatrix, existNodes, null, null))
- .filter(Objects::nonNull)
- .forEach(neighbourNodes::add);
+// possibleNodes.parallelStream()
+// .map(extendNode -> extendNeighborNodes(currentNode, extendNode, mapMatrix, existNodes, null, null))
+// .filter(Objects::nonNull)
+// .forEach(neighbourNodes::add);
+
+ for (AStarNavigateNode pn : possibleNodes) {
+ AStarNavigateNode next = extendNeighborNodes(currentNode, pn, mapMatrix, existNodes, null, null);
+ if (next != null) {
+ neighbourNodes.add(next);
+ }
+ }
return neighbourNodes;
}
--
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