From a079fff1e7bae25a5e29f73709b8e9972216f7ef Mon Sep 17 00:00:00 2001 From: vincentlu <t1341870251@gmail.com> Date: 星期二, 21 一月 2025 15:20:29 +0800 Subject: [PATCH] # --- zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 18 ++++++++++-------- 1 files changed, 10 insertions(+), 8 deletions(-) diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java index 0a2285c..04be5ac 100644 --- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java +++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java @@ -6,6 +6,7 @@ import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.framework.common.Cools; import com.zy.acs.framework.exception.CoolException; +import com.zy.acs.manager.common.utils.MapDataUtils; import com.zy.acs.manager.core.service.astart.domain.DynamicNode; import com.zy.acs.manager.core.utils.RouteGenerator; import com.zy.acs.manager.manager.entity.Code; @@ -36,7 +37,7 @@ private int[][] turnMatrix; - private String[][] cdaMatrix; + private Double[][][] cdaMatrix; public Map<String, Boolean> routeCdaMap = new HashMap<>(); @@ -89,13 +90,14 @@ redis.setValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(lev), JSON.toJSONString(dynamicMatrix)); } - public String[][] getCdaMatrix(Integer lev) { + public Double[][][] getCdaMatrix(Integer lev) { lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV); // redis if (null == this.cdaMatrix) { String cdaMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev)); if (!Cools.isEmpty(cdaMatrixStr)) { - this.cdaMatrix = JSON.parseObject(cdaMatrixStr, String[][].class); + String[][] cdaStrMatrix = JSON.parseObject(cdaMatrixStr, String[][].class); + this.cdaMatrix = MapDataUtils.preComputeCdaMatrix(cdaStrMatrix); } } // init @@ -110,9 +112,9 @@ return this.cdaMatrix; } - public void setCdaMatrix(Integer lev, String[][] cdaMatrix) { - redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaMatrix)); - this.cdaMatrix = cdaMatrix; + public void setCdaMatrix(Integer lev, String[][] cdaStrMatrix) { + redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaStrMatrix)); + this.cdaMatrix = MapDataUtils.preComputeCdaMatrix(cdaStrMatrix); } public int[][] getTurnMatrix(Integer lev) { @@ -364,9 +366,9 @@ return; } for (Route route : routeList) { - Code startCode = codeService.getById(route.getStartCode()); + Code startCode = codeService.getCacheById(route.getStartCode()); int[] startCodeIdx = getCodeMatrixIdx(lev, startCode.getData()); - Code endCode = codeService.getById(route.getEndCode()); + Code endCode = codeService.getCacheById(route.getEndCode()); int[] codeMatrixIdx = getCodeMatrixIdx(lev, endCode.getData()); String routeKey = RouteGenerator.generateRouteKey(startCode.getData(), endCode.getData()); -- Gitblit v1.9.1