From ab886689e2c4ef8db2b0767717d69ebbaf10326c Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 29 十一月 2024 16:37:20 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 26 +++++++++++++-------------
1 files changed, 13 insertions(+), 13 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 ad3924c..853b7c2 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
@@ -66,12 +66,12 @@
this.calcDynamicNodeWhenBoot();
- while (!Thread.currentThread().isInterrupted()) {
-
- this.calcWaveScope();
-
- try { Thread.sleep(500); } catch (InterruptedException ignore) {}
- }
+// while (!Thread.currentThread().isInterrupted()) {
+//
+// this.calcWaveScope();
+//
+// try { Thread.sleep(500); } catch (InterruptedException ignore) {}
+// }
});
}
@@ -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) {
@@ -115,13 +115,13 @@
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());
+ 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) {
- String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
+ String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
}
}
@@ -141,7 +141,7 @@
}
stopWatch.stop();
- if (stopWatch.getTime() > 50) {
+ if (stopWatch.getTime() > 100) {
log.info("婊ゆ尝鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", stopWatch.getTime());
}
@@ -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);
@@ -204,7 +204,7 @@
if (null == agvDetail) {
return;
}
- if (agvDetail.getPos() == null || agvDetail.getPos() != 1) {
+ if (agvDetail.getPos() == null) {
return;
}
Long recentCode = agvDetail.getRecentCode();
--
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