#

vincentlu

昨天 590a64af2cdd33427ed8eda2eb983b07dd60ab8b

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

@@ -4,7 +4,7 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.service.AgvAreaDispatcher;
import com.zy.acs.manager.core.service.LaneService;
import com.zy.acs.manager.core.service.LaneBuilder;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
@@ -39,7 +39,7 @@
    @Autowired
    private JamService jamService;
    @Autowired
    private LaneService laneService;
    private LaneBuilder laneBuilder;
    @Autowired
    private ConfigService configService;
    @Autowired
@@ -59,6 +59,9 @@
        List<String> scopeCodeList = new ArrayList<>();
        if (withinArea) {
            scopeCodeList = agvAreaDispatcher.getCodesByAgvId(agvId);
            if (!Cools.isEmpty(scopeCodeList) && !scopeCodeList.contains(start.getCodeData())) {
                withinArea = false;
            }
        }

        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
@@ -153,7 +156,7 @@
                }

                // 单巷道车辆容载数量
                List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
                List<int[]> laneCodeIdxList = laneBuilder.getLaneCodeIdxList(node.getCodeData());
                if (!Cools.isEmpty(laneCodeIdxList)) {
                    Set<String> lanVehicleSet = new HashSet<>();