From 819bef1aeacf77eaaac809f87971db1056d18ee5 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 14 十一月 2024 13:57:55 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 10 +++++++++-
1 files changed, 9 insertions(+), 1 deletions(-)
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 a213cac..428c9f0 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
@@ -220,11 +220,19 @@
if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
assert !Cools.isEmpty(blockVehicleList);
- boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
+ boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
if (hasUnavoidableBlocks && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
log.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
pathList.clear();
}
+
+ boolean hasCycleJam = blockVehicleList.stream().anyMatch(
+ blockVehicleDto -> null != jamService.getCycleJam(agv.getId(), segment.getId(), blockVehicleDto.getVehicle())
+ );
+ if (hasCycleJam) {
+ log.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
+ pathList.clear();
+ }
}
// 鏃犲彲璧拌璺緞
--
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