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luxiaotao1123

2024-11-06 bb809ceda79f25ed58ef1e764ba7ffcae3254faa

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

@@ -57,9 +57,12 @@
    private MapService mapService;

    @PostConstruct
    @SuppressWarnings("all")
    public void execute() {
        this.singleThreadExecutor = Executors.newSingleThreadExecutor();
        this.singleThreadExecutor.execute(() -> {

            try { Thread.sleep(200); } catch (InterruptedException ignore) {}

            this.calcDynamicNodeWhenBoot();

@@ -67,9 +70,7 @@

                this.calcWaveScope();

                try {
                    Thread.sleep(500);
                } catch (InterruptedException ignore) {}
                try { Thread.sleep(500); } catch (InterruptedException ignore) {}
            }

        });
@@ -114,13 +115,13 @@
                    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());
                        AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel());    // can be optimized

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

                        for (NavigateNode navigateNode : includeList) {
                            String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                            String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
                            waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                        }
                    }