From 89c7f6e5bcc21b0e8f83a2bc6d680e2ffe431e6f Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 13 一月 2025 09:38:29 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 10 ++++++----
1 files changed, 6 insertions(+), 4 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..08e7042 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
@@ -115,8 +115,10 @@
}
stopWatch.stop();
- if (stopWatch.getTime() > 100) {
- log.info("婊ゆ尝鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", stopWatch.getTime());
+ if (stopWatch.getTime() > 0) {
+ if (stopWatch.getTime() > 50) {
+ log.info("婊ゆ尝鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", stopWatch.getTime());
+ }
}
}
}
@@ -241,7 +243,7 @@
}
Agv agv = agvService.selectByUuid(agvNo);
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
@@ -297,7 +299,7 @@
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());
}
}
--
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