From 7477260314a234a516f333339fb26b4123a9255b Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 20 一月 2025 08:53:11 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PathQueueConsumer.java |    2 +-
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java        |   38 ++++++++++++++++++++++++++++++++++++++
 2 files changed, 39 insertions(+), 1 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 c01c7ec..1f0817d 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
@@ -183,8 +183,46 @@
     }
 
     public void unlockPath(String agvNo, String codeData) {
+        if (Cools.isEmpty(agvNo, codeData)) {
+            return;
+        }
         try {
             unlockTaskQueue.offer(new UnlockPathTask(agvNo, codeData), 5, TimeUnit.SECONDS);
+
+//            Integer lev = null;
+//
+//            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
+//            int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, codeData);
+//
+//
+//            DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+//
+//            DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
+//
+//
+//            int serial = dynamicNode.getSerial();
+//
+//            List<int[]> resetCodeIdxList = 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; }
+//
+//                    DynamicNode node = dynamicMatrix[i][j];
+//                    if (node.getVehicle().equals(agvNo)) {
+//                        if (node.getSerial() < serial) {
+//                            resetCodeIdxList.add(new int[] {i, j});
+//                        }
+//                    }
+//                }
+//            }
+//
+//            if (!Cools.isEmpty(resetCodeIdxList)) {
+//
+//                mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeIdxList);
+//            }
+
         } catch (InterruptedException e) {
             log.error("unlockTaskQueue", e);
         }
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PathQueueConsumer.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PathQueueConsumer.java
index 2ba64c6..a5182d1 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PathQueueConsumer.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PathQueueConsumer.java
@@ -37,7 +37,7 @@
         this.consumerExecutor.execute(() -> {
             while (!Thread.currentThread().isInterrupted()) {
                 try {
-                    Thread.sleep(50);
+                    Thread.sleep(10);
                     List<UnlockPathTask> tasks = new ArrayList<>();
                     // if unlockTaskQueue was empty, then block
                     tasks.add(unlockTaskQueue.take());

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