#

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 ] ......
@@ -63,6 +65,17 @@
        }
        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);
@@ -95,6 +108,11 @@
            boolean pointOfTurn = neighborNodes.size() >= 2;
            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;

@@ -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