From b1dd4c6e284244bd7224e2c050a9670fbd9a38ea Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 19 一月 2026 16:21:49 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 20 ++++++++++++--------
1 files changed, 12 insertions(+), 8 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 70f2661..59cbb82 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
@@ -14,7 +14,6 @@
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
-import com.zy.acs.manager.manager.enums.AgvModelType;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.AgvService;
@@ -45,7 +44,7 @@
*/
@Slf4j
@Component
-@DependsOn("getMapDataDispatcher")
+@DependsOn("mapDataDispatcher")
public class AvoidWaveCalculator {
private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@@ -83,7 +82,7 @@
}
- public boolean calcWaveScope() {
+ public boolean calcWaveScope(AgvModel agvModel) {
Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
boolean lockAcquired = false;
@@ -96,7 +95,7 @@
}
// return this.calcWaveScopeByPython(lev);
- return this.calcWaveScopeByJava(lev);
+ return this.calcWaveScopeByJava(lev, agvModel);
} catch (Exception e) {
@@ -115,9 +114,12 @@
}
}
- private boolean calcWaveScopeByPython(Integer lev) throws Exception {
+ private boolean calcWaveScopeByPython(Integer lev, AgvModel agvModel) throws Exception {
+ if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
+ log.warn("There is no diameter or diameter value was wrong...");
+ }
+
// python
- 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);
if (null == pythonFile) {
@@ -170,9 +172,11 @@
return true;
}
- private boolean calcWaveScopeByJava(Integer lev) throws Exception {
+ private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) throws Exception {
+ if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
+ log.warn("There is no diameter or diameter value was wrong...");
+ }
- 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
--
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