#

luxiaotao1123

2024-11-14 819bef1aeacf77eaaac809f87971db1056d18ee5

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

@@ -223,6 +223,14 @@
                    boolean hasUnavoidableBlocks  = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
                    if (hasUnavoidableBlocks && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
                        log.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
                        pathList.clear();
                    }

                    boolean hasCycleJam = blockVehicleList.stream().anyMatch(
                            blockVehicleDto -> null != jamService.getCycleJam(agv.getId(), segment.getId(), blockVehicleDto.getVehicle())
                    );
                    if (hasCycleJam) {
                        log.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
                        pathList.clear();
                    }
                }