#

vincentlu

2025-12-26 4d45de01e35f8b271e5ba25439b574a8b67bc5eb

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

@@ -59,6 +59,9 @@
        List<String> scopeCodeList = new ArrayList<>();
        if (withinArea) {
            scopeCodeList = agvAreaDispatcher.getCodesByAgvId(agvId);
            if (!Cools.isEmpty(scopeCodeList) && !scopeCodeList.contains(start.getCodeData())) {
                withinArea = false;
            }
        }

        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);