#

vincentlu

2025-12-19 cd4737003417324593d0c37ba1629857e7bf7733

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

@@ -52,6 +52,8 @@
    private SegmentService segmentService;
    @Autowired
    private JamService jamService;
    @Autowired
    private AgvAreaDispatcher agvAreaDispatcher;

    /**
     * avoidPathList ===>>  [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -64,10 +66,21 @@
        Integer lev = null;
        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);

        // scope code area: 4ms
        Long agvId = agvService.getAgvId(agvNo);
        Boolean withinArea = agvAreaDispatcher.isAgvExistsInAnyArea(agvId);
        List<String> scopeCodeList = new ArrayList<>();
        if (withinArea) {
            scopeCodeList = agvAreaDispatcher.getCodesByAgvId(agvId);
            if (!Cools.isEmpty(scopeCodeList) && !scopeCodeList.contains(start.getCodeData())) {
                withinArea = false;
            }
        }

        String breakPoint = avoidPathList.stream().findFirst().orElse(null);
        List<String> blackList = Utils.singletonList(sponsor);

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

@@ -96,6 +109,11 @@
            label: for (RetreatNavigateNode node : neighborNodes) {
                if (node.getCodeData().equals(breakPoint)) { continue; }

                if (withinArea) {
                    assert !Cools.isEmpty(scopeCodeList);
                    if (!scopeCodeList.contains(node.getCodeData())) { continue; }
                }

                int weight = 0;

                // wave
@@ -108,7 +126,7 @@
                        if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                            continue label;
                        }
                        if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                        if (mapService.isWalkingByVehicle(lev, otherWave)) {
                            phaseSecond = false;    // there is a running way
                            continue label;
                        } else {
@@ -150,7 +168,7 @@

                }

                Code code = codeService.selectByData(node.getCodeData());
                Code code = codeService.getCacheByData(node.getCodeData());

                // judge whether the node has already been marked as a retreat node?
                // This is a very troublesome matter, if the node be repeatedly mark as a retreat node
@@ -264,7 +282,7 @@
                            if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                                continue;
                            }
                            if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                            if (mapService.isWalkingByVehicle(lev, otherWave)) {

                                if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
                                    actualLanesOfTurn --;