#

luxiaotao1123

2024-12-24 bec3e6f914dbbcc7f68421f1e520e35db3f17160

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

@@ -188,7 +188,7 @@

            mapService.lockPath(null, pathList, agv.getUuid());

            mainService.generateAction(segment.getAgvId(), segmentList, pathList);
            mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
@@ -279,7 +279,7 @@
                        if (!Cools.isEmpty(jam.getAvoAgv())
                                && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {

                            maxJamTimeoutFactor = 5;
                            maxJamTimeoutFactor = 4;

                        } else {

@@ -590,6 +590,9 @@
                            List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                            list.addAll(waveCodeList);
                        } else {
                            // 如果被阻塞车辆已经不在原来的阻塞路径中，考虑避让车走行时不需要把之前的阻塞路径加入黑名单
                            list = new ArrayList<>();
                        }
                    }