diff --git a/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/AgvPathProcessor.java b/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/AgvPathProcessor.java
deleted file mode 100644
index f236619..0000000
--- a/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/AgvPathProcessor.java
+++ /dev/null
@@ -1,570 +0,0 @@
-package com.ruoyi.bas.srgvmap.service.impl;
-
-import cn.hutool.core.collection.CollUtil;
-import cn.hutool.core.convert.Convert;
-import com.ruoyi.bas.srgvmap.domain.WcsSrgvMap;
-import com.ruoyi.bas.srgvmap.service.IWcsSrgvMapService;
-import com.ruoyi.bas.srgvmap.service.RoadCacheService;
-import com.ruoyi.device.srgv.domain.DeviceSrgv;
-import com.ruoyi.device.srgv.service.IDeviceSrgvService;
-import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
-import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
-import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-
-import java.util.*;
-import java.util.stream.Collectors;
-
-@Component
-public class AgvPathProcessor {
-
-    @Autowired
-    private IDeviceSrgvService plcService;
-
-    @Autowired
-    private IWcsSrgvQueueService wcsSagvQueueMapper;
-
-
-    @Autowired
-    private RoadCacheService roadCacheService;
-
-    public void processNoSites(int[][] roadCache, int floor, List<String> noSite) {
-    }
-
-    public void processAgvPathInfo(Map<String, WcsSrgvMap> maps,Integer agvId) {
-        List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(new WcsSrgvQueue());
-        if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
-            //筛选其他小车队列
-            wcsSrgvQueues = wcsSrgvQueues.stream().filter(x -> x.getAgvId().equals(Convert.toStr(agvId))).collect(Collectors.toList());
-
-            //获取其他小车占用点位列表
-            HashSet<String> siteList = new HashSet<>();
-            for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) {
-                String[] split = wcsSrgvQueue.getPathInfo().split(",");
-                siteList.addAll(Arrays.asList(split));
-            }
-
-            //设置其他小车占用点位
-            for (String site : siteList) {
-                if (maps.containsKey(site)){
-                    maps.get(site).setValue(0);
-                }
-            }
-        }
-
-    }
-
-    /**
-     * 更新AGV路径映射，只保留当前站点及以后的路径
-     */
-    private void updateAgvPathMap(Map<String, String> agvPathMap, List<SRGVPlc> srgvPlcs) {
-        for (SRGVPlc plc : srgvPlcs) {
-            com.ruoyi.plc.sagv.SRGVData agvData = plc.getAgvData();
-            if (agvData != null && agvData.getAgvId() != null) {
-                String agvId = agvData.getAgvId();
-                String currSite = agvData.getCurrSite();
-
-                // 如果这个agvId在agvPathMap中存在，且currSite不为空
-                if (agvPathMap.containsKey(agvId) && currSite != null) {
-                    String pathInfo = agvPathMap.get(agvId);
-
-                    // 处理路径信息，只保留当前站点及以后的路径
-                    if (pathInfo != null && !pathInfo.isEmpty()) {
-                        String[] pathArray = pathInfo.split(",");
-                        StringBuilder newPathBuilder = new StringBuilder();
-
-                        boolean foundCurrentSite = false;
-                        for (String site : pathArray) {
-                            if (site.trim().equals(currSite.trim())) {
-                                foundCurrentSite = true;
-                            }
-
-                            if (foundCurrentSite) {
-                                if (newPathBuilder.length() > 0) {
-                                    newPathBuilder.append(",");
-                                }
-                                newPathBuilder.append(site);
-                            }
-                        }
-
-                        // 如果找到了当前站点，更新路径信息
-                        if (foundCurrentSite) {
-                            agvPathMap.put(agvId, newPathBuilder.toString());
-                        }
-                    }
-                }
-            }
-        }
-    }
-
-    public void processOnlineAgvSites(Map<String, WcsSrgvMap> maps) {
-    }
-
-    public void processOfflineAgvSites(Map<String, WcsSrgvMap> maps) {
-    }
-
-    /**
-     * 处理AGV路径信息和地图障碍
-     *//*
-    public void processAgvPathInfo(int floor, List<WcsSrgvMap> slots, IWcsSrgvMapService service) {
-        WcsSagvQueue wcsSagvQueue = new WcsSagvQueue();
-        wcsSagvQueue.setTheFloor(floor + "");
-        List<WcsSagvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSagvQueueList(wcsSagvQueue);
-
-        if (wcsSagvQueues.isEmpty()) {
-            return;
-        }
-
-        // 转为map,key为agvId ，value为pathInfo
-        Map<String, String> agvPathMap = new HashMap<>();
-        for (WcsSagvQueue queue : wcsSagvQueues) {
-            if (queue.getAgvId() != null && queue.getPathInfo() != null) {
-                agvPathMap.put(queue.getAgvId(), queue.getPathInfo());
-            }
-        }
-
-        if (agvPathMap.isEmpty()) {
-            return;
-        }
-
-        // 获取Sagv位置
-        List<SRGVPlc> srgvPlcs = plcService.listSRGVPlcData();
-
-        // 处理路径信息，只保留当前站点及以后的路径
-        updateAgvPathMap(agvPathMap, srgvPlcs);
-
-        // 将路径拆分成站点，更新对应slot的value值
-        updateSlotsWithValueFromPath(slots, agvPathMap);
-    }
-
-    *//**
-     * 更新AGV路径映射，只保留当前站点及以后的路径
-     *//*
-    private void updateAgvPathMap(Map<String, String> agvPathMap, List<SRGVPlc> srgvPlcs) {
-        for (SRGVPlc plc : srgvPlcs) {
-            com.ruoyi.plc.sagv.SRGVData agvData = plc.getAgvData();
-            if (agvData != null && agvData.getAgvId() != null) {
-                String agvId = agvData.getAgvId();
-                String currSite = agvData.getCurrSite();
-
-                // 如果这个agvId在agvPathMap中存在，且currSite不为空
-                if (agvPathMap.containsKey(agvId) && currSite != null) {
-                    String pathInfo = agvPathMap.get(agvId);
-
-                    // 处理路径信息，只保留当前站点及以后的路径
-                    if (pathInfo != null && !pathInfo.isEmpty()) {
-                        String[] pathArray = pathInfo.split(",");
-                        StringBuilder newPathBuilder = new StringBuilder();
-
-                        boolean foundCurrentSite = false;
-                        for (String site : pathArray) {
-                            if (site.trim().equals(currSite.trim())) {
-                                foundCurrentSite = true;
-                            }
-
-                            if (foundCurrentSite) {
-                                if (newPathBuilder.length() > 0) {
-                                    newPathBuilder.append(",");
-                                }
-                                newPathBuilder.append(site);
-                            }
-                        }
-
-                        // 如果找到了当前站点，更新路径信息
-                        if (foundCurrentSite) {
-                            agvPathMap.put(agvId, newPathBuilder.toString());
-                        }
-                    }
-                }
-            }
-        }
-    }
-
-    *//**
-     * 根据路径信息更新slots的value值
-     *//*
-    private void updateSlotsWithValueFromPath(List<WcsSrgvMap> slots, Map<String, String> agvPathMap) {
-        // 创建一个站点到AGV ID的映射
-        Map<String, String> siteToAgvMap = new HashMap<>();
-
-        for (Map.Entry<String, String> entry : agvPathMap.entrySet()) {
-            String agvId = entry.getKey();
-            String pathInfo = entry.getValue();
-
-            if (pathInfo != null && !pathInfo.isEmpty()) {
-                String[] sites = pathInfo.split(",");
-                for (String site : sites) {
-                    String trimmedSite = site.trim();
-                    if (!trimmedSite.isEmpty()) {
-                        siteToAgvMap.put(trimmedSite, agvId);
-                    }
-                }
-            }
-        }
-
-        // 遍历slots，更新匹配的元素
-        for (WcsSrgvMap slot : slots) {
-            String siteId = slot.getSiteId();
-            if (siteId != null && siteToAgvMap.containsKey(siteId)) {
-                String agvId = siteToAgvMap.get(siteId);
-                updateSlotValue(slot, agvId);
-            }
-        }
-    }
-
-    *//**
-     * 处理在线AGV站点
-     *//*
-    public void processOnlineAgvSites(List<WcsSrgvMap> slots) {
-        List<SRGVPlc> srgvPlcs = plcService.listSRGVPlcData();
-
-        // 创建siteId到slot的映射以提高查找性能
-        Map<String, WcsSrgvMap> siteSlotMap = new HashMap<>();
-        for (WcsSrgvMap slot : slots) {
-            if (slot.getSiteId() != null) {
-                siteSlotMap.put(slot.getSiteId(), slot);
-            }
-        }
-
-        for (SRGVPlc plc : srgvPlcs) {
-            com.ruoyi.plc.sagv.SRGVData agvData = plc.getAgvData();
-            if (agvData != null) {
-                String currSite = agvData.getCurrSite();
-                String agvId = agvData.getAgvId();
-
-                if (currSite != null && agvId != null && siteSlotMap.containsKey(currSite)) {
-                    WcsSrgvMap slot = siteSlotMap.get(currSite);
-                    updateSlotValue2(slot, agvId);
-                }
-            }
-        }
-    }
-
-    *//**
-     * 处理离线AGV站点
-     *//*
-    public void processOfflineAgvSites(int floor, List<WcsSrgvMap> slots) {
-        WcsAgv wcsAgv = new WcsAgv();
-        wcsAgv.setDefault01(floor + "");
-        List<WcsAgv> wcsAgvs = wcsAgvMapper.selectWcsAgvList(wcsAgv);
-
-        // 创建siteId到slot的映射以提高查找性能
-        Map<String, WcsSrgvMap> siteSlotMap = new HashMap<>();
-        for (WcsSrgvMap slot : slots) {
-            if (slot.getSiteId() != null) {
-                siteSlotMap.put(slot.getSiteId(), slot);
-            }
-        }
-
-        // 处理离线站点
-        for (WcsAgv agv : wcsAgvs) {
-            String default02 = agv.getDefault02(); // 离线站点
-            String agvId = String.valueOf(wcsAgv.getAgvId());
-
-            if (default02 != null && agvId != null && siteSlotMap.containsKey(default02)) {
-                WcsSrgvMap slot = siteSlotMap.get(default02);
-                updateSlotValue2(slot, agvId);
-            }
-        }
-    }
-
-    *//**
-     * 更新slot的value值为(agvId + 100)
-     *//*
-    private void updateSlotValue(WcsSrgvMap slot, String agvId) {
-        try {
-            int agvIdNum = Integer.parseInt(agvId);
-            slot.setValue(agvIdNum + 100);
-        } catch (NumberFormatException e) {
-            // 如果agvId不是数字，设置默认值100
-           // slot.setValue(100);
-        }
-    }
-    private void updateSlotValue2(WcsSrgvMap slot, String agvId) {
-        try {
-            int agvIdNum = Integer.parseInt(agvId);
-            slot.setValue(agvIdNum + 200);
-        } catch (NumberFormatException e) {
-            // 如果agvId不是数字，设置默认值100
-            // slot.setValue(100);
-        }
-    }
-
-
-    *//*
-    *
-    * 剔除二维数组地图中不允许的站点
-    *
-    * *//*
-    public void processAgvPathInfo(int[][] ints, int floor) {
-
-        WcsSagvQueue wcsSagvQueue = new WcsSagvQueue();
-        wcsSagvQueue.setTheFloor(floor + "");
-        List<WcsSagvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSagvQueueList(wcsSagvQueue);
-
-        if (wcsSagvQueues.isEmpty()) {
-            return;
-        }
-
-        // 转为map,key为agvId ，value为pathInfo
-        Map<String, String> agvPathMap = new HashMap<>();
-        for (WcsSagvQueue queue : wcsSagvQueues) {
-            if (queue.getAgvId() != null && queue.getPathInfo() != null) {
-                agvPathMap.put(queue.getAgvId(), queue.getPathInfo());
-            }
-        }
-
-        if (agvPathMap.isEmpty()) {
-            return;
-        }
-
-        // 获取Sagv位置
-        List<SRGVPlc> srgvPlcs = plcService.listSRGVPlcData();
-
-        // 处理路径信息，只保留当前站点及以后的路径
-        updateAgvPathMap(agvPathMap, srgvPlcs);
-        // 将路径拆分成站点，更新对应slot的value值
-        updateSlotsWithValueFromPath2(ints,agvPathMap,floor);
-
-
-    }
-
-    public void processAgvPathInfo(int[][] ints, int floor,String agvId) {
-
-        WcsSagvQueue wcsSagvQueue = new WcsSagvQueue();
-        wcsSagvQueue.setTheFloor(floor + "");
-        List<WcsSagvQueue> wcsSagvQueueList = wcsSagvQueueMapper.selectWcsSagvQueueList(wcsSagvQueue);
-
-        List<WcsSagvQueue> wcsSagvQueues = wcsSagvQueueList.stream().filter(queue -> !Objects.equals(queue.getAgvId(), agvId)).collect(Collectors.toList());
-
-        if (wcsSagvQueues.isEmpty()) {
-            return;
-        }
-
-        // 转为map,key为agvId ，value为pathInfo
-        Map<String, String> agvPathMap = new HashMap<>();
-        for (WcsSagvQueue queue : wcsSagvQueues) {
-            if (queue.getAgvId() != null && queue.getPathInfo() != null) {
-                agvPathMap.put(queue.getAgvId(), queue.getPathInfo());
-            }
-        }
-
-        if (agvPathMap.isEmpty()) {
-            return;
-        }
-
-        // 获取Sagv位置
-        List<SRGVPlc> srgvPlcs = plcService.listSRGVPlcData();
-
-        // 处理路径信息，只保留当前站点及以后的路径
-        updateAgvPathMap(agvPathMap, srgvPlcs);
-        // 将路径拆分成站点，更新对应slot的value值
-        updateSlotsWithValueFromPath2(ints,agvPathMap,floor);
-
-
-    }
-
-    private void updateSlotsWithValueFromPath2(int[][] arrMap, Map<String, String> agvPathMap, int floor) {
-        // 在循环前获取一次站点坐标映射
-        Map<String, int[]> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
-
-        for (Map.Entry<String, String> entry : agvPathMap.entrySet()) {
-            String agvId = entry.getKey();
-            String pathInfo = entry.getValue();
-
-            if (pathInfo != null && !pathInfo.isEmpty()) {
-                String[] sites = pathInfo.split(",");
-                for (String site : sites) {
-                    String trimmedSite = site.trim();
-                    if (!trimmedSite.isEmpty()) {
-                        int[] siteArr = arrByRoadSite.get(trimmedSite); // 格式{1，2，3}代表排列层
-
-                        // 添加空值检查
-                        if (siteArr != null && siteArr.length >= 2) {
-                            arrMap[siteArr[0]][siteArr[1]] = 0; // 建对应坐标更新为0，代表障碍物
-                        }
-                    }
-                }
-            }
-        }
-    }
-
-    *//**
-     * 处理在线AGV站点
-     *//*
-    public void processOnlineAgvSites(int[][] arrMap, int floor) {
-        List<SRGVPlc> srgvPlcs = plcService.listSRGVPlcData();
-
-        // 过滤出同层的当前站点，并处理空值情况
-        List<String> collect = srgvPlcs.stream()
-                .filter(plc -> plc.getAgvData() != null && plc.getAgvData().getCurrSite() != null)
-                .filter(plc -> floor == plc.getLayer())
-                .map(plc -> plc.getAgvData().getCurrSite())
-                .collect(Collectors.toList());
-
-        if (!collect.isEmpty()) {
-            // 在循环前获取一次站点坐标映射
-            Map<String, int[]> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
-
-            for (String site : collect) {
-                String trimmedSite = site.trim();
-                if (!trimmedSite.isEmpty()) {
-                    int[] siteArr = arrByRoadSite.get(trimmedSite); // 格式{1,2,3}代表排列层
-
-                    // 添加空值检查
-                    if (siteArr != null && siteArr.length >= 2) {
-                        arrMap[siteArr[0]][siteArr[1]] = 0; // 对应坐标更新为0，代表障碍物
-                    }
-                }
-            }
-        }
-    }
-
-    public void processOnlineAgvSites(int[][] arrMap, int floor,String selfSite) {
-        List<SRGVPlc> srgvPlcs = plcService.listSRGVPlcData();
-
-        // 过滤出同层的当前站点，并处理空值情况
-        List<String> collect = srgvPlcs.stream()
-                .filter(plc -> plc.getAgvData() != null && plc.getAgvData().getCurrSite() != null)
-                .filter(plc -> floor == plc.getLayer())
-                .filter(p ->!Objects.equals(p.getAgvData().getCurrSite(),selfSite))
-                .map(plc -> plc.getAgvData().getCurrSite())
-                .collect(Collectors.toList());
-
-        if (!collect.isEmpty()) {
-            // 在循环前获取一次站点坐标映射
-            Map<String, int[]> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
-
-            for (String site : collect) {
-                String trimmedSite = site.trim();
-                if (!trimmedSite.isEmpty()) {
-                    int[] siteArr = arrByRoadSite.get(trimmedSite); // 格式{1,2,3}代表排列层
-
-                    // 添加空值检查
-                    if (siteArr != null && siteArr.length >= 2) {
-                        arrMap[siteArr[0]][siteArr[1]] = 0; // 对应坐标更新为0，代表障碍物
-                    }
-                }
-            }
-        }
-    }
-
-    *//*
-    *
-    * 处理在线AGV站点,不包含自己
-    * *//*
-    public void processOnlineAgvSitesNoSelf(int[][] arrMap, Integer floor, String srcSite) {
-
-        List<SRGVPlc> srgvPlcs = plcService.listSRGVPlcData();
-
-        // 过滤出同层的当前站点，并处理空值情况
-        List<String> collect = srgvPlcs.stream()
-                .filter(plc -> plc.getAgvData() != null && plc.getAgvData().getCurrSite() != null)
-                .filter(plc -> floor == plc.getLayer())
-                .map(plc -> plc.getAgvData().getCurrSite())
-                .collect(Collectors.toList());
-
-        if (!collect.isEmpty()) {
-            // 在循环前获取一次站点坐标映射
-            Map<String, int[]> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
-
-            for (String site : collect) {
-                String trimmedSite = site.trim();
-                if (!trimmedSite.isEmpty() && !Objects.equals(srcSite, trimmedSite)) {
-                    int[] siteArr = arrByRoadSite.get(trimmedSite); // 格式{1,2,3}代表排列层
-
-                    // 添加空值检查
-                    if (siteArr != null && siteArr.length >= 2) {
-                        arrMap[siteArr[0]][siteArr[1]] = 0; // 对应坐标更新为0，代表障碍物
-                    }
-                }
-            }
-        }
-    }
-
-
-
-    *//**
-     * 处理离线AGV站点
-     *//*
-    public void processOfflineAgvSites(int[][] arrMap, int floor) {
-        WcsAgv wcsAgv = new WcsAgv();
-        wcsAgv.setDefault01(floor + "");
-        List<WcsAgv> wcsAgvs = wcsAgvMapper.selectWcsAgvList(wcsAgv);
-        // 根据站点获取二维数组坐标
-        Map<String, int[]> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
-        // 处理离线站点
-        for (WcsAgv agv : wcsAgvs) {
-            // 添加空值检查
-            if (agv != null && agv.getDefault02() != null && agv.getAgvId() != null) {
-                String default02 = agv.getDefault02(); // 离线站点
-                String agvId = String.valueOf(wcsAgv.getAgvId());
-
-
-                String trimmedSite = default02.trim();
-
-                if (!trimmedSite.isEmpty()) {
-                    int[] siteArr = arrByRoadSite.get(trimmedSite);
-
-                    // 添加空值检查
-                    if (siteArr != null && siteArr.length >= 2) {
-                        arrMap[siteArr[0]][siteArr[1]] = 0; // 对应坐标更新为0，代表障碍物
-                    }
-                }
-            }
-        }
-    }
-
-
-    *//*
-    * 离线站点占用目标的也排除
-    * *//*
-    public void processOfflineAgvSites(int[][] arrMap, int floor,List<String> tarSite) {
-        WcsAgv wcsAgv = new WcsAgv();
-        wcsAgv.setDefault01(floor + "");
-        List<WcsAgv> wcsAgvs = wcsAgvMapper.selectWcsAgvList(wcsAgv);
-        // 根据站点获取二维数组坐标
-        Map<String, int[]> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
-        // 处理离线站点
-        for (WcsAgv agv : wcsAgvs) {
-            // 添加空值检查
-            if (agv != null && agv.getDefault02() != null && agv.getAgvId() != null) {
-                String default02 = agv.getDefault02(); // 离线站点
-                String agvId = String.valueOf(wcsAgv.getAgvId());
-
-
-                String trimmedSite = default02.trim();
-
-                if (!trimmedSite.isEmpty()) {
-                    int[] siteArr = arrByRoadSite.get(trimmedSite);
-
-                    // 添加空值检查
-                    if (siteArr != null && siteArr.length >= 2) {
-                        arrMap[siteArr[0]][siteArr[1]] = 0; // 对应坐标更新为0，代表障碍物
-                    }
-
-                    //排除目标
-                    tarSite.remove(trimmedSite);
-                }
-            }
-        }
-    }
-
-
-    public void processNoSites(int[][] roadCache, int floor,List<String> sites) {
-        // 根据站点获取二维数组坐标
-        Map<String, int[]> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
-
-        for (String site : sites) {
-            if (!site.isEmpty()) {
-                int[] siteArr = arrByRoadSite.get(site);
-
-                // 添加空值检查
-                if (siteArr != null && siteArr.length >= 2) {
-                    roadCache[siteArr[0]][siteArr[1]] = 0; // 对应坐标更新为0，代表障碍物
-                }
-            }
-        }
-    }*/
-}
diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/roadUtil/PathFinder.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/roadUtil/PathFinder.java
index d3e394c..59658d5 100644
--- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/roadUtil/PathFinder.java
+++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/roadUtil/PathFinder.java
@@ -528,7 +528,7 @@ public class PathFinder {
                             }
 
                             // 计算拐点
-                            List<int[]> inflectionPoints = extractInflectionPoints2(path, grid);
+                            List<int[]> inflectionPoints = extractInflectionPoints2(path);
                             return new PathInfo(path, inflectionPoints.size());
                         }
                 ));
@@ -585,7 +585,7 @@ public class PathFinder {
                             }
 
                             // 计算拐点
-                            List<int[]> inflectionPoints = extractInflectionPoints2(path, grid);
+                            List<int[]> inflectionPoints = extractInflectionPoints2(path);
                             return new PathInfo(path, inflectionPoints.size());
                         }
                 ));
@@ -647,7 +647,7 @@ public class PathFinder {
                             }
 
                             // 计算拐点
-                            List<int[]> inflectionPoints = extractInflectionPoints2(path, grid);
+                            List<int[]> inflectionPoints = extractInflectionPoints2(path);
                             return new PathInfo(path, inflectionPoints.size());
                         }
                 ));
@@ -719,7 +719,7 @@ public class PathFinder {
                             }
 
                             // 计算拐点
-                            List<int[]> inflectionPoints = extractInflectionPoints2(path, tempGrid);
+                            List<int[]> inflectionPoints = extractInflectionPoints2(path);
                             return new PathInfo(path, inflectionPoints.size());
                         },
                         (existing, replacement) -> existing // 合并函数：如果键冲突，保留现有的值
@@ -780,7 +780,7 @@ public class PathFinder {
                             }
 
                             // 计算拐点
-                            List<int[]> inflectionPoints = extractInflectionPoints2(path, tempGrid);
+                            List<int[]> inflectionPoints = extractInflectionPoints2(path);
                             return new PathInfo(path, inflectionPoints.size());
                         }
                 ));