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luxiaotao1123

2025-01-08 2bad8837d7659ad046f290ba9be656d00185052a

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

@@ -368,6 +368,33 @@
        return turnMatrixNode == TurnNodeType.TURN.val;
    }

    /**
     * That vehicle is walking if the dynamic node count > 1
     */
    @SuppressWarnings("all")
    public boolean isWalkingByVehicle(Integer lev, String vehicle) {
        if (Cools.isEmpty(vehicle)) {
            return false;
        }

        lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

        int count = 0;
        for (int i = 0; i < dynamicMatrix.length; i++) {
            for (int j = 0; j < dynamicMatrix[i].length; j++) {
                if (vehicle.equals(dynamicMatrix[i][j].getVehicle())) {
                    count++;
                    if (count > 1) {
                        return true;
                    }
                }
            }
        }

        return false;
    }

    public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
        if (Cools.isEmpty(nodeType)) {
            return new ArrayList<>();

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

@@ -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 {
@@ -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 --;

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

@@ -441,7 +441,7 @@
                List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                if (!Cools.isEmpty(otherWaveList)) {
                    for (String otherWave : otherWaveList) {
                        if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                        if (mapService.isWalkingByVehicle(lev, otherWave)) {
                            blockVehicleList.add(new BlockVehicleDto(otherWave, false));
                        } else {
                            blockVehicleList.add(new BlockVehicleDto(otherWave, true));