#

luxiaotao1123

2024-12-18 613b59f94870adb25b6dd1e8a1aba8cbb670288e

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

@@ -1,11 +1,13 @@
package com.zy.acs.manager.core.service.astart;

import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.service.LaneService;
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.Route;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.CodeService;
@@ -245,11 +247,9 @@
            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;
            }