From 60fda68af793008947c9b26950421a40363a73a2 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 09 三月 2026 15:11:17 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 24 ++++++++++++++++++------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 2 +-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java | 11 +++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 18 +++++++++++++++---
4 files changed, 45 insertions(+), 10 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 dfca02b..82804fd 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
@@ -7,6 +7,7 @@
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.DirectionDto;
import com.zy.acs.manager.core.domain.LaneDto;
+import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
import com.zy.acs.manager.core.domain.VehicleFootprint;
@@ -205,9 +206,20 @@
return Math.sqrt(deltaX * deltaX + deltaY * deltaY);
}
- public void lockPath(Integer lev, List<String> pathList, String agvNo) {
- List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, pathList);
- mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo);
+ public void lockPath(Integer lev, List<PathDto> pathList, String agvNo) {
+ if (Cools.isEmpty(agvNo, pathList)) {
+ return;
+ }
+ List<PathDto> normalized = pathList.stream()
+ .filter(Objects::nonNull)
+ .filter(dto -> !Cools.isEmpty(dto.getCode()))
+ .collect(Collectors.toList());
+ if (Cools.isEmpty(normalized)) {
+ return;
+ }
+ List<String> codeList = normalized.stream().map(PathDto::getCode).collect(Collectors.toList());
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, codeList);
+ mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo, normalized);
}
public void unlockPath(String agvNo, String codeData) {
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 668d21c..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
@@ -282,7 +282,7 @@
List<PathDto> pathDtoList = mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
// System.out.println("generateAction: " + (System.currentTimeMillis() - startTime));
- mapService.lockPath(null, pathList, agv.getUuid());
+ mapService.lockPath(null, pathDtoList, agv.getUuid());
} catch (Exception e) {
log.error("TrafficService.trigger", e);
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 ea7ac84..7b58d8f 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
@@ -7,6 +7,7 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.utils.MapDataUtils;
+import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Code;
@@ -16,8 +17,6 @@
import com.zy.acs.manager.manager.service.RouteService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.context.event.EventListener;
-import org.springframework.boot.context.event.ApplicationReadyEvent;
import org.springframework.stereotype.Service;
import javax.annotation.PostConstruct;
@@ -500,10 +499,18 @@
}
public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle) {
- this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false);
+ this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false, null);
+ }
+
+ public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, List<PathDto> pathTrace) {
+ this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false, pathTrace);
}
public synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset) {
+ this.modifyDynamicMatrix(lev, codeIdxList, vehicle, reset, null);
+ }
+
+ private synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset, List<PathDto> pathTrace) {
if (Cools.isEmpty(vehicle)) {
return;
}
@@ -511,10 +518,15 @@
DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);
if (!reset) {
-// long time = System.currentTimeMillis() / 1000;
int serial = 1;
- for (int[] codeMatrixIdx : codeIdxList) {
- dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial);
+ for (int i = 0; i < codeIdxList.size(); i++) {
+ int[] codeMatrixIdx = codeIdxList.get(i);
+
+ PathDto pathDto = (pathTrace != null && i < pathTrace.size()) ? pathTrace.get(i) : null;
+ Double direction = pathDto == null ? null : pathDto.getDirection();
+ boolean turn = pathDto != null && pathDto.isTurn();
+
+ dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial, direction, turn);
serial++;
}
} else {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java
index e2d5697..192a363 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/domain/DynamicNode.java
@@ -17,6 +17,10 @@
private int serial = -1;
+ private Double direction;
+
+ private boolean turn = false;
+
public DynamicNode() {}
public DynamicNode(String vehicle) {
@@ -28,4 +32,11 @@
this.serial = DynamicNodeType.ACCESS.val.equals(vehicle) ? -1 : serial;
}
+ public DynamicNode(String vehicle, int serial, Double direction, boolean turn) {
+ this.vehicle = vehicle;
+ this.serial = serial;
+ this.direction = direction;
+ this.turn = turn;
+ }
+
}
--
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