| | |
|---|
| | | String breakPoint = avoidPathList.stream().findFirst().orElse(null); |
|---|
| | | List<String> blackList = Utils.singletonList(sponsor); |
|---|
| | | |
|---|
| | | Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter() |
|---|
| | | Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter() |
|---|
| | | , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR); |
|---|
| | | List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance); |
|---|
| | | |
|---|
| | |
|---|
| | | |
|---|
| | | } |
|---|
| | | |
|---|
| | | Code code = codeService.selectByData(node.getCodeData()); |
|---|
| | | Code code = codeService.getCacheByData(node.getCodeData()); |
|---|
| | | |
|---|
| | | // judge whether the node has already been marked as a retreat node? |
|---|
| | | // This is a very troublesome matter, if the node be repeatedly mark as a retreat node |
|---|
