From b2a9573ed2de64b1c4d9f941d773e50fbc9a1cfd Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 13 一月 2025 11:25:57 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java | 3 +--
zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java | 2 +-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 6 +++---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvCmdService.java | 2 +-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 2 ++
5 files changed, 8 insertions(+), 7 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 979dfa9..41ea3f3 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
@@ -19,9 +19,8 @@
}
public static List<Double> parseCdaNode(String cdaNodeStr) {
- List<Double> waveNodeList = new ArrayList<>();
if (Cools.isEmpty(cdaNodeStr)) {
- return waveNodeList;
+ return new ArrayList<>();
}
return JSON.parseArray(cdaNodeStr, Double.class);
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvCmdService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvCmdService.java
index e383d6f..cb05787 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvCmdService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AgvCmdService.java
@@ -91,7 +91,7 @@
return messageBody;
}
try{
- Thread.sleep(10);
+ Thread.sleep(15);
}catch(Exception ex){
ex.printStackTrace();
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index d6c2b61..faa379e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -35,6 +35,8 @@
@Component("mapService")
public class MapService {
+ private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
+
@Value("${floyd.enable}")
private Boolean floydEnable;
@Autowired
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
index 139fa84..a7ea660 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
@@ -29,6 +29,9 @@
public static final int WEIGHT_CALC_FACTOR = 1;
+ // right left up down
+ private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
+
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
@@ -186,9 +189,6 @@
// System.out.println("getNeighborNodes spend time: " + getNeighborNodesTime +", count: " + getNeighborNodesCount);
return null;
}
-
- // right left up down
- private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
// 鑾峰彇鍥涘懆鑺傜偣
private List<AStarNavigateNode> getNeighborNodes(AStarNavigateNode currentNode, int[][] mapMatrix, Set<AStarNavigateNode> existNodes) {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
index 390cbaa..3c5e4a7 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
@@ -91,7 +91,7 @@
this.responseThread = new Thread(() -> {
while (!Thread.currentThread().isInterrupted()) {
try {
- Thread.sleep(10);
+ Thread.sleep(15);
if (configService.getVal("fakeSign", Boolean.class)) {
this.responseTheRequest();
--
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