From 7ce12b33107fb33941df7e1589bf1a6716539377 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 13 三月 2026 13:39:48 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 9 ++++++---
1 files changed, 6 insertions(+), 3 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 e8dd401..c73ac0f 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
@@ -5,10 +5,10 @@
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.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.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Segment;
@@ -56,6 +56,8 @@
private AgvAreaDispatcher agvAreaDispatcher;
/**
+ * agvNo: 闃诲AGV锛屾尅閬撹��
+ * sponsor锛� 琚樆濉濧GV锛屽鍧�鍙戣捣鑰�
* avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
**/
// @SuppressWarnings("all")
@@ -80,8 +82,9 @@
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
List<String> blackList = Utils.singletonList(sponsor);
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
- , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+ AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
+ AgvModel sponsorModel = agvModelService.getByAgvNo(sponsor);
+ double avoidDistance = MapDataUtils.buildFootprint(agvModel).maxExtent() + MapDataUtils.buildFootprint(sponsorModel).maxExtent();
List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
--
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