#

vincentlu

2025-01-14 36a008f9860641eb0d91adda33f868198701ef3a

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java

@@ -115,8 +115,10 @@
            }

            stopWatch.stop();
            if (stopWatch.getTime() > 100) {
                log.info("滤波函数花费时间为：{}毫秒......", stopWatch.getTime());
            if (stopWatch.getTime() > 0) {
                if (stopWatch.getTime() > 50) {
                    log.info("滤波函数花费时间为：{}毫秒......", stopWatch.getTime());
                }
            }
        }
    }
@@ -177,6 +179,7 @@
    }

    private boolean calcWaveScopeByJava(Integer lev) throws Exception {

        AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString());    // can be optimized
        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

@@ -241,7 +244,7 @@
            }

            Agv agv = agvService.selectByUuid(agvNo);
            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
            AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

            String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);