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); -- Gitblit v1.9.1