From c8fbc6476e9e45e693f0f1ed423110a8f1773c9d Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 20 一月 2025 14:33:52 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 56 ++++++++------------------------------------------------
1 files changed, 8 insertions(+), 48 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 d272dec..73c5f10 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
@@ -20,7 +20,6 @@
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import lombok.extern.slf4j.Slf4j;
-import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.core.io.ClassPathResource;
import org.springframework.core.io.Resource;
@@ -28,7 +27,10 @@
import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
-import java.io.*;
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.InputStream;
+import java.io.InputStreamReader;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.List;
@@ -92,8 +94,7 @@
Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
boolean lockAcquired = false;
- StopWatch stopWatch = new StopWatch();
- stopWatch.start();
+ long startTime = System.currentTimeMillis();
try {
if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
@@ -114,11 +115,9 @@
lock.unlock();
}
- stopWatch.stop();
- 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());
- }
+ long during = System.currentTimeMillis() - startTime;
+ if (during > 50) {
+ log.info("婊ゆ尝鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", during);
}
}
}
@@ -227,45 +226,6 @@
throw new RuntimeException(e);
}
return scriptFile;
- }
-
- public void syncWaveBySingleVeh(String agvNo, String codeData) {
- if (Cools.isEmpty(agvNo, codeData)) {
- return;
- }
-
- boolean lockAcquired = false;
- Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
-
- try {
- if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- log.warn("AvoidWaveCalculator syncWaveBySingleVeh fail, cause can not acquire lock ...");
- return;
- }
-
- Agv agv = agvService.selectByUuid(agvNo);
- AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-
- String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
-
- List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, avoidDistance);
-
- for (NavigateNode navigateNode : includeList) {
- String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
- waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
- }
-
- mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
-
- } catch (Exception e) {
- log.error("AvoidWaveCalculator.syncWaveBySingleVeh fail", e);
- } finally {
-
- if (lockAcquired) {
- lock.unlock();
- }
- }
}
public void calcDynamicNodeWhenBoot() {
--
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