#

vincentlu

2 天以前 d64ddaa5a1db6098a498a0c74d723068851cb088

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

@@ -201,7 +201,7 @@
            //        ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});

            // * sync wave scope
            if (!avoidWaveCalculator.calcWaveScope()) {
            if (!avoidWaveCalculator.calcWaveScope(agvModelService.getByAgvId(agv.getId()))) {
                log.error("failed to calculate avoid wave matrix ...");
                return;
            }
@@ -672,7 +672,7 @@

                            // the wave of first node
                            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
                                    agvModelService.getById(jamAgv.getAgvModel()).getDiameter(),
                                    agvModelService.getByAgvId(jamAgv.getId()).getDiameter(),
                                    MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
                            );
                            List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
@@ -703,9 +703,12 @@
                continue;
            }
            // 当前vehicle正在进行滚筒输送线等待
            if (segmentService.isRollerWaiting(agvId)) {
            if (travelService.hasRollerWaiting(agvId)) {
                continue;
            }
//            if (segmentService.isRollerWaiting(agvId)) {
//                continue;
//            }
            return blockVehicleDto.getVehicle();
        }
        return null;