From cd4737003417324593d0c37ba1629857e7bf7733 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 19 十二月 2025 09:34:49 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 4 ++++
1 files changed, 4 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 ccd43a6..4e57f55 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
@@ -65,12 +65,16 @@
}
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);
+ if (!Cools.isEmpty(scopeCodeList) && !scopeCodeList.contains(start.getCodeData())) {
+ withinArea = false;
+ }
}
String breakPoint = avoidPathList.stream().findFirst().orElse(null);
--
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