From e6c977aadbd6fdfa9c0d4be5d16dd83cf4677a79 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 15 十一月 2024 15:12:48 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java |   31 ++++++++++++++++---------------
 1 files changed, 16 insertions(+), 15 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 89e82f6..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
@@ -57,20 +57,21 @@
     private MapService mapService;
 
     @PostConstruct
+    @SuppressWarnings("all")
     public void execute() {
         this.singleThreadExecutor = Executors.newSingleThreadExecutor();
         this.singleThreadExecutor.execute(() -> {
 
+            try { Thread.sleep(200); } catch (InterruptedException ignore) {}
+
             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) {}
+//            }
 
         });
     }
@@ -97,7 +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) {
@@ -114,13 +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);
                         }
                     }
@@ -140,7 +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());
             }
 
@@ -163,7 +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);
 
@@ -203,7 +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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