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)); -- Gitblit v1.9.1