From 90dc30255c86d6ce3f4c0a8e73a909d2827f6176 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 09 十一月 2024 13:42:44 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java |    2 +-
 zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java           |    6 +++---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java    |    6 +++---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java       |    2 +-
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
index f744fd9..8449992 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
@@ -51,12 +51,12 @@
         return JSON.toJSONString(waveNodeList);
     }
 
-    public static Double getVehicleWaveSafeDistance(Integer diameter, Double coe) {
+    public static Double getVehicleWaveSafeDistance(Integer diameter, Double factor) {
         if (Cools.isEmpty(diameter)) {
             return 0.0D;
         }
-        coe = Optional.ofNullable(coe).orElse(1.0D);
-        return diameter * coe;
+        factor = Optional.ofNullable(factor).orElse(1.0D);
+        return diameter * factor;
     }
 
 }
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java
index 3f8f7a4..801b717 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java
@@ -5,6 +5,6 @@
  */
 public class MapDataConstant {
 
-    public static final Double IDLE_DISTANCE_COE = 1.2;
+    public static final Double MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR = 1.2;
 
 }
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 c38c262..21995ca 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
@@ -98,7 +98,7 @@
 //                AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
 //                Code code = codeService.getById(agvDetail.getRecentCode());
 //
-//                Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
+//                Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
 //                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, code.getData(), avoidDistance);
 //
 //                for (NavigateNode navigateNode : includeList) {
@@ -117,7 +117,7 @@
                     if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
                         AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel());    // can be optimized
 
-                        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
+                        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
                         List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
 
                         for (NavigateNode navigateNode : includeList) {
@@ -164,7 +164,7 @@
 
             Agv agv = agvService.selectByUuid(agvNo);
             AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
-            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
+            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
 
             String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
 
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
index 6d89a53..a7b7cc9 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
@@ -65,7 +65,7 @@
         List<String> blackList = Utils.singletonList(sponsor);
 
         Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
-                , MapDataConstant.IDLE_DISTANCE_COE);
+                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
         List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
 
         DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

--
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