#

luxiaotao1123

2024-11-05 8a4bae16c2e6397251e0f9c58521aa9be363eb8e

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

@@ -7,7 +7,6 @@
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
import com.zy.acs.manager.core.service.astart.WaveNodeType;
@@ -237,7 +236,7 @@

            if (!Cools.isEmpty(pathList)) {

                if (!Cools.isEmpty(blockVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
                if (!pathList.get(pathList.size() - 1).equals(endCode.getData()) && !Cools.isEmpty(blockVehicleList)) {
                    String blockAgvNo = blockVehicleList.get(0);
                    if (mapDataDispatcher.queryCodeListFromDynamicNode(null, blockAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
                        pathList.clear();
@@ -431,18 +430,22 @@
                List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
                List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                if (!Cools.isEmpty(otherWaveList)) {
                    blockVehicleList.addAll(otherWaveList);
                    for (String otherWave : otherWaveList) {
                        if (mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size() <= 1) {
                            blockVehicleList.add(otherWave);
                        }
                    }
                    break;
                }
            }

            DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
            String vehicle = dynamicNode.getVehicle();
            assert !vehicle.equals(DynamicNodeType.BLOCK.val);
            if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
                blockVehicleList.add(vehicle);
                break;
            }
//            DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
//            String vehicle = dynamicNode.getVehicle();
//            assert !vehicle.equals(DynamicNodeType.BLOCK.val);
//            if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
//                blockVehicleList.add(vehicle);
//                break;
//            }

            pathList.add(code);
        }