From 590a64af2cdd33427ed8eda2eb983b07dd60ab8b Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 16 一月 2026 12:05:12 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 9 ++++++---
1 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
index 5b39591..3a310e6 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
@@ -4,7 +4,7 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.service.AgvAreaDispatcher;
-import com.zy.acs.manager.core.service.LaneService;
+import com.zy.acs.manager.core.service.LaneBuilder;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
@@ -39,7 +39,7 @@
@Autowired
private JamService jamService;
@Autowired
- private LaneService laneService;
+ private LaneBuilder laneBuilder;
@Autowired
private ConfigService configService;
@Autowired
@@ -59,6 +59,9 @@
List<String> scopeCodeList = new ArrayList<>();
if (withinArea) {
scopeCodeList = agvAreaDispatcher.getCodesByAgvId(agvId);
+ if (!Cools.isEmpty(scopeCodeList) && !scopeCodeList.contains(start.getCodeData())) {
+ withinArea = false;
+ }
}
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
@@ -153,7 +156,7 @@
}
// 鍗曞贩閬撹溅杈嗗杞芥暟閲�
- List<int[]> laneCodeIdxList = laneService.getLaneCodeIdxList(node.getCodeData());
+ List<int[]> laneCodeIdxList = laneBuilder.getLaneCodeIdxList(node.getCodeData());
if (!Cools.isEmpty(laneCodeIdxList)) {
Set<String> lanVehicleSet = new HashSet<>();
--
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