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luxiaotao1123

2024-11-26 c7ac2c8bb899b0785daaa9f72a69581bdb93fef1

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

@@ -209,9 +209,9 @@
        List<String> pathList = new ArrayList<>();

        // 无障碍解
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment, null);
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
        // 避让解
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment, null);
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);

        if (!Cools.isEmpty(lockPathList) && // 存在避让解
            Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10
@@ -225,8 +225,10 @@
            if (blockSeverity.equals(BlockSeverityType.SEVERE)) {
                unlockPathList.remove(endCode.getData());
                blackPath.addAll(unlockPathList);
                List<String> list = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment, blockSeverity);
                System.out.println(list.size());
                List<String> newUnlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
                if (!Cools.isEmpty(newUnlockPathList)) {
                    draftPath = newUnlockPathList;
                }
            }
            // 可走行路径集合计算
            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, draftPath, agvNo, pathList);    // jamAgvNo may was wave