#

vincentlu

2 天以前 7ce12b33107fb33941df7e1589bf1a6716539377

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

@@ -5,10 +5,10 @@
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
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.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Segment;
@@ -56,6 +56,8 @@
    private AgvAreaDispatcher agvAreaDispatcher;

    /**
     * agvNo: 阻塞AGV，挡道者
     * sponsor： 被阻塞AGV，寻址发起者
     * avoidPathList ===>>  [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
     **/
//    @SuppressWarnings("all")
@@ -80,8 +82,9 @@
        String breakPoint = avoidPathList.stream().findFirst().orElse(null);
        List<String> blackList = Utils.singletonList(sponsor);

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
        AgvModel sponsorModel = agvModelService.getByAgvNo(sponsor);
        double avoidDistance = MapDataUtils.buildFootprint(agvModel).maxExtent() + MapDataUtils.buildFootprint(sponsorModel).maxExtent();
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);