#

vincentlu

2025-01-13 b2a9573ed2de64b1c4d9f941d773e50fbc9a1cfd

#

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

@@ -19,9 +19,8 @@
    }

    public static List<Double> parseCdaNode(String cdaNodeStr) {
        List<Double> waveNodeList = new ArrayList<>();
        if (Cools.isEmpty(cdaNodeStr)) {
            return waveNodeList;
            return new ArrayList<>();
        }
        return JSON.parseArray(cdaNodeStr, Double.class);
    }

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

@@ -91,7 +91,7 @@
                return messageBody;
            }
            try{
                Thread.sleep(10);
                Thread.sleep(15);
            }catch(Exception ex){
                ex.printStackTrace();
            }

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

@@ -35,6 +35,8 @@
@Component("mapService")
public class MapService {

    private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};

    @Value("${floyd.enable}")
    private Boolean floydEnable;
    @Autowired

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

@@ -29,6 +29,9 @@

    public static final int WEIGHT_CALC_FACTOR = 1;

    // right left up down
    private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};

    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
@@ -186,9 +189,6 @@
//        System.out.println("getNeighborNodes spend time: " + getNeighborNodesTime +", count: " + getNeighborNodesCount);
        return null;
    }

    // right left up down
    private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};

    // 获取四周节点
    private List<AStarNavigateNode> getNeighborNodes(AStarNavigateNode currentNode, int[][] mapMatrix, Set<AStarNavigateNode> existNodes) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java

@@ -91,7 +91,7 @@
        this.responseThread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    Thread.sleep(10);
                    Thread.sleep(15);

                    if (configService.getVal("fakeSign", Boolean.class)) {
                        this.responseTheRequest();