#

luxiaotao1123

2025-01-15 fd6d26f8ffe6a37533e741337f3eca9134d934c7

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

@@ -116,7 +116,9 @@

            stopWatch.stop();
            if (stopWatch.getTime() > 0) {
                log.info("滤波函数花费时间为：{}毫秒......", stopWatch.getTime());
                if (stopWatch.getTime() > 50) {
                    log.info("滤波函数花费时间为：{}毫秒......", stopWatch.getTime());
                }
            }
        }
    }
@@ -177,6 +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);

@@ -224,45 +227,6 @@
            throw new RuntimeException(e);
        }
        return scriptFile;
    }

    public void syncWaveBySingleVeh(String agvNo, String codeData) {
        if (Cools.isEmpty(agvNo, codeData)) {
            return;
        }

        boolean lockAcquired = false;
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;

        try {
            if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                log.warn("AvoidWaveCalculator syncWaveBySingleVeh fail, cause can not acquire lock ...");
                return;
            }

            Agv agv = agvService.selectByUuid(agvNo);
            AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

            String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);

            List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, avoidDistance);

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

            mapDataDispatcher.setWaveMatrix(lev, waveMatrix);

        } catch (Exception e) {
            log.error("AvoidWaveCalculator.syncWaveBySingleVeh fail", e);
        } finally {

            if (lockAcquired) {
                lock.unlock();
            }
        }
    }

    public void calcDynamicNodeWhenBoot() {