#

vincentlu

2 天以前 590a64af2cdd33427ed8eda2eb983b07dd60ab8b

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

@@ -45,7 +45,7 @@
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private LaneService laneService;
    private LaneBuilder laneBuilder;
    @Autowired
    private ConfigService configService;
    @Autowired
@@ -65,12 +65,16 @@
        }
        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);
@@ -133,7 +137,7 @@

                // lane
                if (pointOfTurn) {
                    List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                    List<int[]> laneCodeIdxList = laneBuilder.getLaneCodeIdxList(node.getCodeData());
                    if (!Cools.isEmpty(laneCodeIdxList)) {
                        Set<String> lanVehicleSet = new HashSet<>();

@@ -231,7 +235,7 @@

                        for (RetreatNavigateNode node : neighborNodes) {
                            // lane
                            List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                            List<int[]> laneCodeIdxList = laneBuilder.getLaneCodeIdxList(node.getCodeData());
                            if (!Cools.isEmpty(laneCodeIdxList)) {
                                Set<String> lanVehicleSet = new HashSet<>();