From 8a4bae16c2e6397251e0f9c58521aa9be363eb8e Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 05 十一月 2024 16:37:05 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 23 +++++++++++++----------
1 files changed, 13 insertions(+), 10 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 e10ba16..c2ed10b 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
@@ -7,7 +7,6 @@
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.TaskPosDto;
-import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
import com.zy.acs.manager.core.service.astart.WaveNodeType;
@@ -237,7 +236,7 @@
if (!Cools.isEmpty(pathList)) {
- if (!Cools.isEmpty(blockVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
+ if (!pathList.get(pathList.size() - 1).equals(endCode.getData()) && !Cools.isEmpty(blockVehicleList)) {
String blockAgvNo = blockVehicleList.get(0);
if (mapDataDispatcher.queryCodeListFromDynamicNode(null, blockAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
pathList.clear();
@@ -431,18 +430,22 @@
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- blockVehicleList.addAll(otherWaveList);
+ for (String otherWave : otherWaveList) {
+ if (mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size() <= 1) {
+ blockVehicleList.add(otherWave);
+ }
+ }
break;
}
}
- DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
- String vehicle = dynamicNode.getVehicle();
- assert !vehicle.equals(DynamicNodeType.BLOCK.val);
- if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
- blockVehicleList.add(vehicle);
- break;
- }
+// DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
+// String vehicle = dynamicNode.getVehicle();
+// assert !vehicle.equals(DynamicNodeType.BLOCK.val);
+// if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
+// blockVehicleList.add(vehicle);
+// break;
+// }
pathList.add(code);
}
--
Gitblit v1.9.1