| | |
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| | | // ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {}); |
|---|
| | | |
|---|
| | | // * sync wave scope |
|---|
| | | if (!avoidWaveCalculator.calcWaveScope()) { |
|---|
| | | if (!avoidWaveCalculator.calcWaveScope(agvModelService.getByAgvId(agv.getId()))) { |
|---|
| | | log.error("failed to calculate avoid wave matrix ..."); |
|---|
| | | return; |
|---|
| | | } |
|---|
| | |
|---|
| | | |
|---|
| | | // the wave of first node |
|---|
| | | Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance( |
|---|
| | | agvModelService.getById(jamAgv.getAgvModel()).getDiameter(), |
|---|
| | | agvModelService.getByAgvId(jamAgv.getAgvModel()).getDiameter(), |
|---|
| | | MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR |
|---|
| | | ); |
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| | | List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance) |
|---|
