#

vincentlu

2025-01-14 aaa515911eef34e2263ce8baa6f860025fd6060d

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

@@ -179,6 +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);

@@ -187,15 +188,16 @@
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);

        // lock path
        long time = 0;
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        for (int i = 0; i < dynamicMatrix.length; i++) {
            for (int j = 0; j < dynamicMatrix[i].length; j++) {
                DynamicNode dynamicNode = dynamicMatrix[i][j];
                String vehicle = dynamicNode.getVehicle();
                if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {

                    long startTime = System.currentTimeMillis();
                    List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);

                    time += System.currentTimeMillis() - startTime;
                    for (NavigateNode navigateNode : includeList) {
                        String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
                        waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
@@ -206,7 +208,7 @@

//            mapDataDispatcher.printMatrix(waveMatrix);
        mapDataDispatcher.setWaveMatrix(lev, waveMatrix);

        System.out.println("calcWaveScopeByJava " + time);
        return true;
    }