From 1195f70c061d9205837eb731f24e1a3e34747c87 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 19 十二月 2025 13:20:52 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 18 ++++++++++++++++++
1 files changed, 18 insertions(+), 0 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
index 24bb499..4e57f55 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
@@ -52,6 +52,8 @@
private SegmentService segmentService;
@Autowired
private JamService jamService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
/**
* avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -63,6 +65,17 @@
}
Integer lev = null;
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
+
+ // scope code area: 4ms
+ Long agvId = agvService.getAgvId(agvNo);
+ Boolean withinArea = agvAreaDispatcher.isAgvExistsInAnyArea(agvId);
+ List<String> scopeCodeList = new ArrayList<>();
+ if (withinArea) {
+ scopeCodeList = agvAreaDispatcher.getCodesByAgvId(agvId);
+ if (!Cools.isEmpty(scopeCodeList) && !scopeCodeList.contains(start.getCodeData())) {
+ withinArea = false;
+ }
+ }
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
List<String> blackList = Utils.singletonList(sponsor);
@@ -96,6 +109,11 @@
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
+ if (withinArea) {
+ assert !Cools.isEmpty(scopeCodeList);
+ if (!scopeCodeList.contains(node.getCodeData())) { continue; }
+ }
+
int weight = 0;
// wave
--
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