22 lines
1.7 KiB
Markdown
22 lines
1.7 KiB
Markdown
I will implement collision avoidance logic in `BaseSRgvThread.java` to handle scenarios where a path is blocked by another SRGV.
|
|
|
|
**Implementation Plan:**
|
|
1. **Modify `sendPointToPointTask` method in `BaseSRgvThread.java`**:
|
|
* Locate the block where `shortestPath` is null or empty (indicating a blocked path).
|
|
* After the existing specific logic for "Floor 1", add a generic avoidance strategy.
|
|
* **Avoidance Strategy**:
|
|
1. Query `WcsSrgvMap` for all sites with `remark="cache"` (avoidance points) on the current floor.
|
|
2. Filter out sites that are currently occupied by other SRGVs.
|
|
3. Find the nearest reachable avoidance point to the current car.
|
|
4. **Task Splitting (Yielding Logic)**:
|
|
* **Create a new "Continuation" Queue**: Clone the current task but set its `StartSite` to the avoidance point and keep the original `EndSite`. Insert this as a new pending task.
|
|
* **Update Current Queue**: Change the `EndSite` of the current blocked task to the **Avoidance Point**. This effectively converts the current task into a "Yielding" task.
|
|
5. Return `false` to allow the scheduler to pick up the modified task in the next cycle.
|
|
|
|
**Technical Details:**
|
|
* Use `wcsSrgvMapService` to fetch avoidance points.
|
|
* Use `PathFinder` to verify reachability of the avoidance point.
|
|
* Use `BeanUtil` (Hutool) or manual setters to clone the queue.
|
|
* Ensure the new logic does not interfere with the existing "Floor 1" logic (put it after or as an `else` condition).
|
|
|
|
This approach ensures that when blocked, the car moves to a safe spot (Yielding Queue) and then resumes its original journey (Continuation Queue). |