From 1bdaf9be340892e1654caea9ed4082b6c61beb3b Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 09 三月 2026 15:54:02 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 6 +-----
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PathQueueConsumer.java | 2 +-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 8 +++++++-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java | 2 +-
4 files changed, 10 insertions(+), 8 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
index db6a50e..e0635cb 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
+++ b/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())))
+ );
}
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PathQueueConsumer.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PathQueueConsumer.java
index a5182d1..6c90d00 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PathQueueConsumer.java
+++ b/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)) {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
index 7b58d8f..5bcba6d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
+++ b/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) {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java
index 192a363..a7dada9 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java
+++ b/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;
--
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