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vincentlu

14 小时以前 5c3448b294a23dc75da89bbaba187459af8c6f8d

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 zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleRuntime.java

File was deleted

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

@@ -8,7 +8,6 @@
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.domain.VehicleRuntime;
import com.zy.acs.manager.core.service.astart.CodeNodeType;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
@@ -187,7 +186,8 @@
        // 当前调度车型的最大旋转半径
        double bufferRadius = buildFootprint(agvModel).maxExtent();

        Map<String, VehicleRuntime> runtimeCache = new HashMap<>();
        Map<String, VehicleFootprint> footprintCache = new HashMap<>();

        for (int i = 0; i < dynamicMatrix.length; i++) {
            for (int j = 0; j < dynamicMatrix[i].length; j++) {
                DynamicNode dynamicNode = dynamicMatrix[i][j];
@@ -200,11 +200,20 @@
                    continue;
                }

                // cache
                VehicleRuntime runtime = runtimeCache.computeIfAbsent(vehicle, this::loadRuntime);
                assert null != runtime; assert null != runtime.getFootprint();
                VehicleFootprint footprint = footprintCache.computeIfAbsent(vehicle, this::loadFootprint);

                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, runtime.getFootprint(), runtime.getHeadingRad(), bufferRadius);
                List<NavigateNode> includeList;
                Double nodeDirection = dynamicNode.getDirection();
                if (dynamicNode.isTurn()) {
                    double radius = footprint.maxExtent() + bufferRadius;
                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
                } else if (nodeDirection != null) {
                    double headingRad = Math.toRadians(90 - nodeDirection);
                    includeList = mapService.getWaveScopeByCode(lev, codeData, footprint, headingRad, bufferRadius);
                } else {
                    double radius = footprint.maxExtent() + bufferRadius;
                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
                }

                for (NavigateNode navigateNode : includeList) {
                    String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
@@ -217,20 +226,12 @@
        return true;
    }

    private VehicleRuntime loadRuntime(String agvNo) {
    private VehicleFootprint loadFootprint(String agvNo) {
        AgvModel model = agvModelService.getByAgvNo(agvNo);
        if (model == null) {
            return null;
            throw new CoolException(agvNo + " does not have an model.");
        }
        VehicleFootprint footprint = this.buildFootprint(model);

        AgvDetail detail = agvDetailService.selectByAgvNo(agvNo);
        if (detail == null || null == detail.getAgvAngle()) {
            throw new CoolException(agvNo + " does not have an agv angle");
        }
        double headingDeg = detail.getAgvAngle();

        return new VehicleRuntime(footprint, Math.toRadians(90 - headingDeg));
        return this.buildFootprint(model);
    }

    private double toMapLength(Integer mm) {