#

luxiaotao1123

2024-11-15 de726e3af84dd4bedc95b42b42132c728788a3b1

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

@@ -83,6 +83,10 @@
//                    }
//                }

                if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
                    continue;
                }

                // 节点被占用
                DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
                String vehicle = dynamicNode.getVehicle();
@@ -90,9 +94,6 @@
                if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
                    if (!vehicle.equals(agvNo)) {

                        if (!Cools.isEmpty(blackList) && blackList.contains(vehicle)) {
                            continue;
                        }
                        if (lock) {
                            continue;
                        }
@@ -107,9 +108,6 @@
                    List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);

                    if (!Cools.isEmpty(otherWaveList)) {
                        if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
                            continue;
                        }

                        if (lock) {
                            continue;
@@ -138,9 +136,10 @@
                    }

                    if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
                        if (lock) {
                            continue;
                        }
//                        if (lock) {
//                            continue;
//                        }
                        continue;
                    }
                }