From 5c79d2221f27d384b97e0808e18d32fd29326dc5 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 15 十一月 2024 14:48:40 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 10 ++++------
1 files changed, 4 insertions(+), 6 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
index adf32a6..37109bb 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
@@ -83,6 +83,10 @@
// }
// }
+ if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
+ continue;
+ }
+
// 鑺傜偣琚崰鐢�
DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()];
String vehicle = dynamicNode.getVehicle();
@@ -90,9 +94,6 @@
if (!vehicle.equals(DynamicNodeType.ACCESS.val)) {
if (!vehicle.equals(agvNo)) {
- if (!Cools.isEmpty(blackList) && blackList.contains(vehicle)) {
- continue;
- }
if (lock) {
continue;
}
@@ -107,9 +108,6 @@
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- if (!Cools.isEmpty(blackList) && 0 < Cools.getIntersection(otherWaveList, blackList).size()) {
- continue;
- }
if (lock) {
continue;
--
Gitblit v1.9.1