From 3f14cb5d2fc4c68b486ca92689dfe86d1dc11533 Mon Sep 17 00:00:00 2001 From: luxiaotao1123 <t1341870251@163.com> Date: 星期一, 06 一月 2025 13:26:12 +0800 Subject: [PATCH] # --- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 3 ++- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 13 ++++++------- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 2 +- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 13 +++++++------ 4 files changed, 16 insertions(+), 15 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 b87f448..142e857 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 @@ -297,7 +297,7 @@ DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]]; String vehicle = dynamicNode.getVehicle(); if (vehicle.equals(DynamicNodeType.ACCESS.val)) { - mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(code.getData()), agv.getUuid()); + mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(codeMatrixIdx), agv.getUuid()); } } diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java index b832872..a71e6f0 100644 --- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java @@ -1025,7 +1025,8 @@ if (!Cools.isEmpty(pathList)) { pathList.remove(0); - mapDataDispatcher.clearDynamicMatrixByCodeList(null, pathList); + List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, pathList); + mapDataDispatcher.clearDynamicMatrixByCodeList(null, codeMatrixIdxList); } throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e); 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 b43c1d8..11f942d 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 @@ -173,7 +173,8 @@ } public void lockPath(Integer lev, List<String> pathList, String agvNo) { - mapDataDispatcher.modifyDynamicMatrix(lev, pathList, agvNo); + List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, pathList); + mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo); } public synchronized void unlockPath(String agvNo, String codeData) { @@ -196,9 +197,9 @@ DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]]; - Integer serial = dynamicNode.getSerial(); + int serial = dynamicNode.getSerial(); - List<String> resetCodeList = new ArrayList<>(); + List<int[]> resetCodeIdxList = new ArrayList<>(); for (int i = 0; i < dynamicMatrix.length; i++) { for (int j = 0; j < dynamicMatrix[i].length; j++) { @@ -208,15 +209,15 @@ DynamicNode node = dynamicMatrix[i][j]; if (node.getVehicle().equals(agvNo)) { if (node.getSerial() < serial) { - resetCodeList.add(codeMatrix[i][j]); + resetCodeIdxList.add(new int[] {i, j}); } } } } - if (!Cools.isEmpty(resetCodeList)) { + if (!Cools.isEmpty(resetCodeIdxList)) { - mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeList); + mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeIdxList); } stopWatch.stop(); 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 8171712..78c45bb 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 @@ -522,11 +522,11 @@ // return codeList.stream().map(SortCodeDto::getCode).collect(Collectors.toList()); } - public void modifyDynamicMatrix(Integer lev, List<String> codeDataList, String vehicle) { - this.modifyDynamicMatrix(lev, codeDataList, vehicle, false); + public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle) { + this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false); } - public synchronized void modifyDynamicMatrix(Integer lev, List<String> codeDataList, String vehicle, boolean reset) { + public synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset) { if (Cools.isEmpty(vehicle)) { return; } @@ -536,8 +536,7 @@ if (!reset) { // long time = System.currentTimeMillis() / 1000; int serial = 1; - for (String codeData : codeDataList) { - int[] codeMatrixIdx = getCodeMatrixIdx(lev, codeData); + for (int[] codeMatrixIdx : codeIdxList) { dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial); serial++; } @@ -555,8 +554,8 @@ setDynamicMatrix(lev, dynamicMatrix); } - public void clearDynamicMatrixByCodeList(Integer lev, List<String> codeDataList) { - this.modifyDynamicMatrix(lev, codeDataList, DynamicNodeType.ACCESS.val); + public void clearDynamicMatrixByCodeList(Integer lev, List<int[]> codeIdxList) { + this.modifyDynamicMatrix(lev, codeIdxList, DynamicNodeType.ACCESS.val); } public int[][] filterMapData(int[][] mapMatrix, Integer lev, List<String> lockNodes) { -- Gitblit v1.9.1