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) {

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