From dc23ab59268e6dccd7d50d10cf8cffe1bf67d551 Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期二, 13 五月 2025 18:55:34 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 26 +++++++++++++++++++-------
1 files changed, 19 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 274eee4..8c2ceeb 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -48,7 +48,7 @@
// private RgvProtocol rgvProtocol;
private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
// # 杞ㄩ亾鎬婚暱
- private Long trackEntireLength = 215000L;
+ private Long trackEntireLength = 224000L;
//# 杞ㄩ亾鍩哄噯鐐�
private Long trackBenchmark = 1L;
// # 閬胯璺濈
@@ -345,7 +345,7 @@
}
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
if (avoidAbs<51){
- return false;
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -365,7 +365,7 @@
}
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
if (avoidAbs<51){
- return false;
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -378,7 +378,7 @@
> avoidDistance) {//鏃犻渶閬胯
return true;
} else {
- if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()) {
+ if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
@@ -395,6 +395,12 @@
}
return false;
}
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ }
}
} else {
if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
@@ -410,7 +416,7 @@
}
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
if (avoidAbs<51){
- return false;
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -430,7 +436,7 @@
}
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
if (avoidAbs<51){
- return false;
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -444,7 +450,7 @@
> avoidDistance) {//鏃犻渶閬胯
return true;
} else {
- if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos()) {
+ if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
@@ -461,6 +467,12 @@
}
return false;
}
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ }
}
}
return false;
--
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