From aaa515911eef34e2263ce8baa6f860025fd6060d Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 14 一月 2025 11:21:02 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 27 ++++++++++++++++-----------
1 files changed, 16 insertions(+), 11 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 99fae76..9fcf125 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
@@ -101,8 +101,8 @@
return false;
}
- return this.calcWaveScopeByPython(lev);
-// return this.calcWaveScopeByJava(lev);
+// return this.calcWaveScopeByPython(lev);
+ return this.calcWaveScopeByJava(lev);
} catch (Exception e) {
@@ -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());
+ }
}
}
}
@@ -177,22 +179,25 @@
}
private boolean calcWaveScopeByJava(Integer lev) throws Exception {
+
+ AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()); // can be optimized
+ Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+
// java
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
// lock path
+ long time = 0;
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
for (int i = 0; i < dynamicMatrix.length; i++) {
for (int j = 0; j < dynamicMatrix[i].length; j++) {
DynamicNode dynamicNode = dynamicMatrix[i][j];
String vehicle = dynamicNode.getVehicle();
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.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+ long startTime = System.currentTimeMillis();
List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
-
+ time += System.currentTimeMillis() - startTime;
for (NavigateNode navigateNode : includeList) {
String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
@@ -203,7 +208,7 @@
// mapDataDispatcher.printMatrix(waveMatrix);
mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
-
+ System.out.println("calcWaveScopeByJava " + time);
return true;
}
@@ -240,7 +245,7 @@
}
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);
@@ -296,7 +301,7 @@
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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