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luxiaotao1123

2024-11-09 90dc30255c86d6ce3f4c0a8e73a909d2827f6176

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 zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java

@@ -51,12 +51,12 @@
        return JSON.toJSONString(waveNodeList);
    }

    public static Double getVehicleWaveSafeDistance(Integer diameter, Double coe) {
    public static Double getVehicleWaveSafeDistance(Integer diameter, Double factor) {
        if (Cools.isEmpty(diameter)) {
            return 0.0D;
        }
        coe = Optional.ofNullable(coe).orElse(1.0D);
        return diameter * coe;
        factor = Optional.ofNullable(factor).orElse(1.0D);
        return diameter * factor;
    }

}

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java

@@ -5,6 +5,6 @@
 */
public class MapDataConstant {

    public static final Double IDLE_DISTANCE_COE = 1.2;
    public static final Double MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR = 1.2;

}

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

@@ -98,7 +98,7 @@
//                AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
//                Code code = codeService.getById(agvDetail.getRecentCode());
//
//                Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
//                Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
//                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, code.getData(), avoidDistance);
//
//                for (NavigateNode navigateNode : includeList) {
@@ -117,7 +117,7 @@
                    if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
                        AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel());    // can be optimized

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

                        for (NavigateNode navigateNode : includeList) {
@@ -164,7 +164,7 @@

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

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


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

@@ -65,7 +65,7 @@
        List<String> blackList = Utils.singletonList(sponsor);

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
                , MapDataConstant.IDLE_DISTANCE_COE);
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);