From 3209b7899f99fbc567c24be9709ba289f33ea73b Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 30 十二月 2024 16:46:05 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 32 ++++++++++++--------------------
1 files changed, 12 insertions(+), 20 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index a6cc742..1b3014d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -62,7 +62,6 @@
// System.out.println("AStart spend time: " + (System.currentTimeMillis() - startTime));
if (null == finishNode) {
- log.warn("{} 鍙稟GV妫�绱{}] ===>> [{}]璺緞澶辫触......", agvNo, startCode.getData(), endCode.getData());
return new ArrayList<>();
}
@@ -206,18 +205,17 @@
Integer serial = dynamicNode.getSerial();
- long time = dynamicNode.getTime();
List<String> resetCodeList = new ArrayList<>();
for (int i = 0; i < dynamicMatrix.length; i++) {
for (int j = 0; j < dynamicMatrix[i].length; j++) {
- if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
+// if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
DynamicNode node = dynamicMatrix[i][j];
if (node.getVehicle().equals(agvNo)) {
- if (node.getSerial() < serial || node.getTime() != time) {
+ if (node.getSerial() < serial) {
resetCodeList.add(codeMatrix[i][j]);
}
}
@@ -307,26 +305,20 @@
existNodes.add(nextNode);
- String nextNodeCodeData = codeMatrix[x][y];
- if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
+ List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
+ List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[x][y]);
+
+ if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
+ nextNode.setCodeData(codeMatrix[x][y]);
+
+ if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
+ includeList.add(nextNode);
+ }
this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
-
- } else {
-
- List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
- List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);
-
-// if (Math.pow(o1.getX() - o2.getX(), 2) + Math.pow(o1.getY() - o2.getY(), 2) <= Math.pow(radiusLen, 2)) {
- if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
- nextNode.setCodeData(nextNodeCodeData);
- includeList.add(nextNode);
-
- this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
-
- }
}
+
}
// v2 BFS ------------------------------------------------------------------------------
--
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