From 592c2747205b78ef0b2f03a4accc2805d89dbdae Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 31 十二月 2024 14:28:37 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 17 ++---------------
1 files changed, 2 insertions(+), 15 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 cf74c9a..f3e6e74 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
@@ -57,31 +57,19 @@
NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
- long startTime = System.currentTimeMillis();
NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
-// 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<>();
}
ArrayList<NavigateNode> navigateNodes = new ArrayList<>();
- // 娓叉煋
- NavigateNode parentNode = null; // 褰撳墠寰幆涓婁竴鑺傜偣锛岀敤浜庢嫄鐐硅绠�
while (finishNode != null) {
navigateNodes.add(finishNode);
-
- parentNode = finishNode;
finishNode = finishNode.getParent();
}
Collections.reverse(navigateNodes);
-
-// for (NavigateNode navigateNode : navigateNodes) {
-// navigateNode.setParent(null);
-// }
List<String> navigatePath = navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
@@ -206,18 +194,17 @@
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]);
}
}
--
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