#

luxiaotao1123

2024-12-21 2bdbfd1ac24d4e9a87daf6fb8b99ec32264d5752

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java

@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
@@ -9,6 +10,7 @@
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Route;
@@ -386,26 +388,14 @@
            nextNode.setCodeData(nextNodeCodeData);

            // 判断通过性
            Route route = routeService.findByCodeOfBoth(
                    codeService.selectByData(currentNodeCodeData).getId(),
                    codeService.selectByData(nextNodeCodeData).getId()
            );
            if (null == route) {
            String routeKey = RouteGenerator.generateRouteKey(currentNodeCodeData, nextNodeCodeData);
            Object routeVal = redis.getMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey);
            if (routeVal == null || !(Boolean) routeVal) {
                return null;
            }

        }

        return nextNode;
    }

    private boolean isExist(RetreatNavigateNode node, List<RetreatNavigateNode> existNodes) {
        for (RetreatNavigateNode existNode : existNodes) {
            if (this.isSame(node, existNode)) {
                return true;
            }
        }
        return false;
    }

    private boolean isSame(RetreatNavigateNode o1, RetreatNavigateNode o2) {