#

luxiaotao1123

2025-01-06 b9eef68cc85d30b892a1cd50829341d3dae743b9

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

@@ -101,8 +101,8 @@
                return false;
            }

            return this.calcWaveScopeByPython(lev);
//            return this.calcWaveScopeByJava(lev);
//            return this.calcWaveScopeByPython(lev);
            return this.calcWaveScopeByJava(lev);

        } catch (Exception e) {

@@ -177,6 +177,9 @@
    }

    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);

        // java
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
@@ -188,9 +191,7 @@
                DynamicNode dynamicNode = dynamicMatrix[i][j];
                String vehicle = dynamicNode.getVehicle();
                if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
                    AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel());    // can be optimized

                    Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
                    List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);

                    for (NavigateNode navigateNode : includeList) {