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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