#

luxiaotao1123

2024-11-04 7f70cb15d035f0c233b9e62b9e43aa985317c908

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

@@ -2,6 +2,7 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.CommonUtil;
import com.zy.acs.manager.common.utils.LocUtils;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.manager.entity.*;
@@ -224,14 +225,10 @@
        assert null != firstCode;
        Double[] toPosition = new Double[]{firstCode.getX(), firstCode.getY()};
        // calculate distance
        weight = weight + this.calcPositionDistance(fromPosition, toPosition);
        weight = weight + CommonUtil.calcDistance(fromPosition, toPosition);

        // return opposite
        return -weight;
    }

    private int calcPositionDistance(Double[] from, Double[] to) {
        return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1]));
    }

    public synchronized Agv execute(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {