#

luxiaotao1123

2024-11-12 f7a68273c9ae23eb81e90eb0349c8314ccd8927c

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

@@ -14,9 +14,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.List;
import java.util.PriorityQueue;
import java.util.*;

/**
 * Created by vincent on 6/12/2024
@@ -122,7 +120,7 @@
                // 单巷道车辆容载数量
                Lane lane = laneService.search(node.getCodeData());
                if (null != lane) {
                    int otherVehicleCount = 0;
                    Set<String> lanVehicleSet = new HashSet<>();

                    List<String> laneCodes = lane.getCodes();
                    for (String laneCodeData : laneCodes) {
@@ -133,16 +131,17 @@
                        assert !laneVehicle.equals(DynamicNodeType.BLOCK.val);
                        if (!laneVehicle.equals(DynamicNodeType.ACCESS.val)) {
                            if (!laneVehicle.equals(agvNo)) {
                                otherVehicleCount++;
                                lanVehicleSet.add(laneVehicle);
//                                redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, laneVehicle, true, 30);
                            }
                        }
                    }

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