#

luxiaotao1123

2024-11-14 6b246faa2e12b5a0212f7411039df03fac014071

#

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

@@ -66,12 +66,12 @@

            this.calcDynamicNodeWhenBoot();

            while (!Thread.currentThread().isInterrupted()) {

                this.calcWaveScope();

                try { Thread.sleep(500); } catch (InterruptedException ignore) {}
            }
//            while (!Thread.currentThread().isInterrupted()) {
//
//                this.calcWaveScope();
//
//                try { Thread.sleep(500); } catch (InterruptedException ignore) {}
//            }

        });
    }

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

@@ -90,7 +90,6 @@
    }

    /**
     * buildMinorTask 没有设置lane，lane只需要关注起始点（走行只需要关注终点）
     * 4个地方调用了buildMinorTask，在什么时候、哪里设置task的lane
     * (
         * HandlerController, 手动  （手动是否需要判断lane）
@@ -99,8 +98,6 @@
         * TrafficService,    自动  （寻址时已经处理过 lane） ✔
     * )
     * 评估HandlerController没有调用buildMajorTask，手动创建task的可行性
     * patrolOfMove没有判断lane的容量
     * 抢占待机位
     * agv地图图标变化
     */
    public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {

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

@@ -238,6 +238,10 @@
            // 无可走行路径
            } else {

                if (Cools.isEmpty(blockVehicleList)) {
                    log.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
                } else {

                assert !Cools.isEmpty(blockVehicleList);
                Integer maxJamTimeoutFactor = null;

@@ -327,6 +331,7 @@
            }

        }
        }

        if (!Cools.isEmpty(pathList)) {