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/TrafficService.java | 16 ++++++++++------
1 files changed, 10 insertions(+), 6 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index a386a16..95704e5 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -9,6 +9,7 @@
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.BlockVehicleDto;
+import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.domain.type.BlockSeverityType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
@@ -201,7 +202,7 @@
// ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
// * sync wave scope
- if (!avoidWaveCalculator.calcWaveScope()) {
+ if (!avoidWaveCalculator.calcWaveScope(agvModelService.getByAgvId(agv.getId()))) {
log.error("failed to calculate avoid wave matrix ...");
return;
}
@@ -277,11 +278,11 @@
}
}
- mapService.lockPath(null, pathList, agv.getUuid());
-
// startTime = System.currentTimeMillis();
- mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
+ List<PathDto> pathDtoList = mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
// System.out.println("generateAction: " + (System.currentTimeMillis() - startTime));
+
+ mapService.lockPath(null, pathDtoList, agv.getUuid());
} catch (Exception e) {
log.error("TrafficService.trigger", e);
@@ -672,7 +673,7 @@
// the wave of first node
Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
- agvModelService.getById(jamAgv.getAgvModel()).getDiameter(),
+ agvModelService.getByAgvId(jamAgv.getId()).getDiameter(),
MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
);
List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
@@ -703,9 +704,12 @@
continue;
}
// 褰撳墠vehicle姝ｅ湪杩涜婊氱瓛杈撻�佺嚎绛夊緟
- if (segmentService.isRollerWaiting(agvId)) {
+ if (travelService.hasRollerWaiting(agvId)) {
continue;
}
+// if (segmentService.isRollerWaiting(agvId)) {
+// continue;
+// }
return blockVehicleDto.getVehicle();
}
return null;
--
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