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luxiaotao1123

2025-01-15 fd6d26f8ffe6a37533e741337f3eca9134d934c7

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

@@ -133,8 +133,8 @@
            }

            // checkout path
            Code startCode = codeService.getById(agvDetail.getRecentCode());
            Code endCode = codeService.getById(endNode);
            Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
            Code endCode = codeService.getCacheById(endNode);
            long startTime = System.currentTimeMillis();
            List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
//            System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
@@ -309,7 +309,7 @@

                                // block vehicle info
                                Long blockAgvId = agvService.getAgvId(blockAgvNo);
                                String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgvId).getRecentCode()).getData();
                                String blockAgvCode = codeService.getCacheById(agvDetailService.selectMajorByAgvId(blockAgvId).getRecentCode()).getData();

                                // create new jam if already notify the avoid vehicle
                                if (!Cools.isEmpty(jam.getAvoAgv(), jam.getAvoSeg()) && !blockAgvId.equals(jam.getAvoAgv())) {
@@ -433,12 +433,13 @@
    private List<BlockVehicleDto> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
        List<BlockVehicleDto> blockVehicleList = new ArrayList<>();

//        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
        for (String code : fullPathList) {
            int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
        List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, fullPathList);
        for (int i = 0; i < fullPathList.size(); i++) {
            String codeData = fullPathList.get(i);
            int[] codeMatrixIdx = codeMatrixIdxList.get(i);

            String waveNode = waveMatrix[node[0]][node[1]];
            String waveNode = waveMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
            assert !waveNode.equals(WaveNodeType.DISABLE.val);
            if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
                List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
@@ -455,15 +456,7 @@
                }
            }

//            DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
//            String vehicle = dynamicNode.getVehicle();
//            assert !vehicle.equals(DynamicNodeType.BLOCK.val);
//            if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
//                blockVehicleList.add(vehicle);
//                break;
//            }

            pathList.add(code);
            pathList.add(codeData);
        }

        if (pathList.size() <= 1) {