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vincentlu

13 小时以前 1bdaf9be340892e1654caea9ed4082b6c61beb3b

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

@@ -7,6 +7,7 @@
import com.zy.acs.manager.common.config.RedisProperties;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.service.astart.CodeNodeType;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
@@ -319,7 +320,12 @@
        DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
        String vehicle = dynamicNode.getVehicle();
        if (vehicle.equals(DynamicNodeType.ACCESS.val)) {
            mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(codeMatrixIdx), agv.getUuid());
            mapDataDispatcher.modifyDynamicMatrix(
                    null,
                    Utils.singletonList(codeMatrixIdx),
                    agv.getUuid(),
                    Utils.singletonList(new PathDto(code.getData(), MapService.mapToNearest(agvDetail.getAgvAngle())))
            );
        }
    }


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

@@ -51,7 +51,7 @@
                            resetCodeIdxList = this.getResetCodeList(lev, tasks.get(0));
                        } else if (tasks.size() > 1) {
//                            log.info("consumer task count:{}", tasks.size());
                            resetCodeIdxList = this.getResetCodeList(lev,tasks);
                            resetCodeIdxList = this.getResetCodeList(lev, tasks);
                        }

                        if (!Cools.isEmpty(resetCodeIdxList)) {

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

@@ -498,10 +498,6 @@
        return codeMatrixIdxList;
    }

    public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle) {
        this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false, null);
    }

    public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, List<PathDto> pathTrace) {
        this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false, pathTrace);
    }
@@ -544,7 +540,7 @@
    }

    public void clearDynamicMatrixByCodeList(Integer lev, List<int[]> codeIdxList) {
        this.modifyDynamicMatrix(lev, codeIdxList, DynamicNodeType.ACCESS.val);
        this.modifyDynamicMatrix(lev, codeIdxList, DynamicNodeType.ACCESS.val, false, null);
    }

    public int[][] filterMapData(int[][] mapMatrix, Integer lev, List<String> lockNodes) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java

@@ -17,7 +17,7 @@

    private int serial = -1;

    private Double direction;
    private Double direction = null;

    private boolean turn = false;