#

luxiaotao1123

2024-11-04 5397d02e8d447ede71e29e7ee530f451a0f14d35

#

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

@@ -168,7 +168,7 @@

            RetreatNavigateNode availablePointOfTurn = null;
            List<String> availablePointWaveScopeOfTurn = new ArrayList<>();
            int actuallyLanesOfTurn = 0;
            int actualLanesOfTurn = 0;

            while (openQueue.size() > 0 && null == finialNode) {

@@ -207,11 +207,11 @@
                                }
                            }

                            actuallyLanesOfTurn ++;
                            actualLanesOfTurn ++;
                        }

                        // 有两条以上可走巷道，则视为有效转弯点
                        if (actuallyLanesOfTurn >= 2) {
                        if (actualLanesOfTurn >= 2) {
                            availablePointOfTurn = currentNode;
                            availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
@@ -235,8 +235,8 @@
                            }
                            if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {

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

                                continue label;
@@ -259,10 +259,10 @@
                    existNodes.add(node);
                }

                if (actuallyLanesOfTurn < 2) {
                if (actualLanesOfTurn < 2) {
                    availablePointOfTurn = null;
                    availablePointWaveScopeOfTurn = new ArrayList<>();
                    actuallyLanesOfTurn = 0;
                    actualLanesOfTurn = 0;
                } else {
                    if (!Cools.isEmpty(enableNodes)) {
                        Collections.sort(enableNodes);