#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -67,7 +67,7 @@
        String breakPoint = avoidPathList.stream().findFirst().orElse(null);
        List<String> blackList = Utils.singletonList(sponsor);

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

@@ -108,7 +108,7 @@
                        if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                            continue label;
                        }
                        if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                        if (mapService.isWalkingByVehicle(lev, otherWave)) {
                            phaseSecond = false;    // there is a running way
                            continue label;
                        } else {
@@ -150,7 +150,7 @@

                }

                Code code = codeService.selectByData(node.getCodeData());
                Code code = codeService.getCacheByData(node.getCodeData());

                // judge whether the node has already been marked as a retreat node?
                // This is a very troublesome matter, if the node be repeatedly mark as a retreat node
@@ -264,7 +264,7 @@
                            if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
                                continue;
                            }
                            if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                            if (mapService.isWalkingByVehicle(lev, otherWave)) {

                                if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
                                    actualLanesOfTurn --;