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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