From 2bad8837d7659ad046f290ba9be656d00185052a Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 08 一月 2025 15:26:51 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 4 ++--
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 2 +-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 27 +++++++++++++++++++++++++++
3 files changed, 30 insertions(+), 3 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index 1e0ac79..2be706d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -368,6 +368,33 @@
return turnMatrixNode == TurnNodeType.TURN.val;
}
+ /**
+ * That vehicle is walking if the dynamic node count > 1
+ */
+ @SuppressWarnings("all")
+ public boolean isWalkingByVehicle(Integer lev, String vehicle) {
+ if (Cools.isEmpty(vehicle)) {
+ return false;
+ }
+
+ lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+
+ int count = 0;
+ for (int i = 0; i < dynamicMatrix.length; i++) {
+ for (int j = 0; j < dynamicMatrix[i].length; j++) {
+ if (vehicle.equals(dynamicMatrix[i][j].getVehicle())) {
+ count++;
+ if (count > 1) {
+ return true;
+ }
+ }
+ }
+ }
+
+ return false;
+ }
+
public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
if (Cools.isEmpty(nodeType)) {
return new ArrayList<>();
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 1b6d1d4..e13cd31 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
@@ -108,7 +108,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue label;
}
- if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
phaseSecond = false; // there is a running way
continue label;
} else {
@@ -264,7 +264,7 @@
if (!Cools.isEmpty(blackList) && blackList.contains(otherWave)) {
continue;
}
- if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
if (null != availablePointOfTurn && actualLanesOfTurn > 0) {
actualLanesOfTurn --;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 31fa21a..de7319e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -441,7 +441,7 @@
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
for (String otherWave : otherWaveList) {
- if (1 < mapService.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
blockVehicleList.add(new BlockVehicleDto(otherWave, false));
} else {
blockVehicleList.add(new BlockVehicleDto(otherWave, true));
--
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