From 7f70cb15d035f0c233b9e62b9e43aa985317c908 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 10:22:45 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 12 +++++-------
1 files changed, 5 insertions(+), 7 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
index 279170e..f63a66e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
@@ -2,9 +2,11 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.common.utils.CommonUtil;
import com.zy.acs.manager.common.utils.LocUtils;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
@@ -47,7 +49,7 @@
*/
private List<Agv> getAvailableAgv() {
List<Agv> result = new ArrayList<>();
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
Collections.shuffle(agvList);
for (Agv agv : agvList) {
@@ -223,14 +225,10 @@
assert null != firstCode;
Double[] toPosition = new Double[]{firstCode.getX(), firstCode.getY()};
// calculate distance
- weight = weight + this.calcPositionDistance(fromPosition, toPosition);
+ weight = weight + CommonUtil.calcDistance(fromPosition, toPosition);
// return opposite
return -weight;
- }
-
- private int calcPositionDistance(Double[] from, Double[] to) {
- return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1]));
}
public synchronized Agv execute(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {
@@ -241,7 +239,7 @@
Agv hit = null;
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
Collections.shuffle(agvList);
for (Agv agv : agvList) {
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
--
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