From 25f276990df41cc8bc03a9427874f70776b04bea Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 08 一月 2025 16:18:48 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 11 +++--------
1 files changed, 3 insertions(+), 8 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 7e9cbc3..db2d907 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
@@ -1,19 +1,16 @@
package com.zy.acs.manager.core.service;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
-import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
-import com.zy.acs.manager.manager.entity.Route;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.service.*;
@@ -39,8 +36,6 @@
@Autowired
private CodeService codeService;
- @Autowired
- private RouteService routeService;
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
@@ -72,7 +67,7 @@
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
List<String> blackList = Utils.singletonList(sponsor);
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getById(agvService.selectByUuid(sponsor).getAgvModel()).getDiameter()
+ Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
@@ -113,7 +108,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue label;
}
- if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
phaseSecond = false; // there is a running way
continue label;
} else {
@@ -269,7 +264,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue;
}
- if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
actualLanesOfTurn --;
--
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