From b639c5c38b2cf872dc99ede03f60e52da147071e Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 19 十二月 2025 09:18:57 +0800
Subject: [PATCH] # algo scope area
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 14 ++++++++++++++
1 files changed, 14 insertions(+), 0 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 24bb499..ccd43a6 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
@@ -52,6 +52,8 @@
private SegmentService segmentService;
@Autowired
private JamService jamService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
/**
* avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
@@ -63,6 +65,13 @@
}
Integer lev = null;
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
+ // scope code area: 4ms
+ Long agvId = agvService.getAgvId(agvNo);
+ Boolean withinArea = agvAreaDispatcher.isAgvExistsInAnyArea(agvId);
+ List<String> scopeCodeList = new ArrayList<>();
+ if (withinArea) {
+ scopeCodeList = agvAreaDispatcher.getCodesByAgvId(agvId);
+ }
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
List<String> blackList = Utils.singletonList(sponsor);
@@ -96,6 +105,11 @@
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
+ if (withinArea) {
+ assert !Cools.isEmpty(scopeCodeList);
+ if (!scopeCodeList.contains(node.getCodeData())) { continue; }
+ }
+
int weight = 0;
// wave
--
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