#

vincentlu

2025-01-13 2fa57dfc4448c1489b09cac59cc4a586461af153

#

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

@@ -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) {