package com.zy.common.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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import com.core.common.SpringUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.BasMap;
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import com.zy.asrs.service.BasMapService;
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import com.zy.common.model.NavigateNode;
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import com.zy.core.enums.MapNodeType;
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import java.util.*;
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import java.util.concurrent.atomic.AtomicInteger;
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/**
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* A*算法实现类
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*/
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public class NavigateSolution {
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// Open表用优先队列
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public PriorityQueue<NavigateNode> Open = new PriorityQueue<NavigateNode>();
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//Close表用普通的数组
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public ArrayList<NavigateNode> Close = new ArrayList<NavigateNode>();
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//用来存放已经出现过的结点。
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Map<String, Integer> bestGMap = new HashMap<>();
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public List<List<NavigateNode>> getStationMap(int lev) {
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BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
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BasMap basMap = basMapService.getOne(new QueryWrapper<BasMap>().eq("lev", lev));
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if (basMap == null) {
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throw new CoolException("地图不存在");
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}
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List<List<JSONObject>> dataList = JSON.parseObject(basMap.getData(), List.class);
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List<List<NavigateNode>> navigateNodeList = new ArrayList<>();
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for (int i = 0; i < dataList.size(); i++) {
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List<JSONObject> row = dataList.get(i);
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List<NavigateNode> navigateNodeRow = new ArrayList<>();
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for (int j = 0; j < row.size(); j++) {
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JSONObject map = row.get(j);
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NavigateNode navigateNode = new NavigateNode(i, j);
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String mergeType = map.getString("mergeType");
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String nodeType = map.getString("type");
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String nodeValue = map.getString("value");
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if(nodeType == null) {
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navigateNode.setValue(MapNodeType.DISABLE.id);
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}else if(nodeType.equals("devp") || (nodeType.equals("merge") && mergeType.equals("devp"))) {
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navigateNode.setValue(MapNodeType.NORMAL_PATH.id);
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JSONObject valueObj = JSON.parseObject(map.getString("value"));
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List<String> directionList = valueObj.getJSONArray("direction").toJavaList(String.class);
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navigateNode.setDirectionList(directionList);
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} else if (nodeType.equals("rgv")) {
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navigateNode.setValue(MapNodeType.NORMAL_PATH.id);
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JSONObject valueObj = JSON.parseObject(map.getString("value"));
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JSONObject newNodeValue = new JSONObject();
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newNodeValue.put("rgvCalcFlag", 1);
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nodeValue = JSON.toJSONString(newNodeValue);
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//RGV暂不控制行走方向，默认上下左右都可走
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List<String> directionList = new ArrayList<>();
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directionList.add("top");
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directionList.add("bottom");
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directionList.add("left");
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directionList.add("right");
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navigateNode.setDirectionList(directionList);
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} else {
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navigateNode.setValue(MapNodeType.DISABLE.id);
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}
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navigateNode.setNodeType(nodeType);
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navigateNode.setNodeValue(nodeValue);
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navigateNodeRow.add(navigateNode);
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}
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navigateNodeList.add(navigateNodeRow);
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}
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return navigateNodeList;
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}
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public List<List<NavigateNode>> getRgvTrackMap(int lev) {
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BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
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BasMap basMap = basMapService.getOne(new QueryWrapper<BasMap>().eq("lev", lev));
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if (basMap == null) {
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throw new CoolException("地图不存在");
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}
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List<List<JSONObject>> dataList = JSON.parseObject(basMap.getData(), List.class);
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List<List<NavigateNode>> navigateNodeList = new ArrayList<>();
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for (int i = 0; i < dataList.size(); i++) {
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List<JSONObject> row = dataList.get(i);
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List<NavigateNode> navigateNodeRow = new ArrayList<>();
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for (int j = 0; j < row.size(); j++) {
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JSONObject map = row.get(j);
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NavigateNode navigateNode = new NavigateNode(i, j);
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String nodeType = map.getString("type");
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if(nodeType == null) {
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navigateNode.setValue(MapNodeType.DISABLE.id);
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}else if(nodeType.equals("rgv")){
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navigateNode.setValue(MapNodeType.NORMAL_PATH.id);
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JSONObject valueObj = JSON.parseObject(map.getString("value"));
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//RGV暂不控制行走方向，默认上下左右都可走
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List<String> directionList = new ArrayList<>();
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directionList.add("top");
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directionList.add("bottom");
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directionList.add("left");
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directionList.add("right");
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navigateNode.setDirectionList(directionList);
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}else {
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navigateNode.setValue(MapNodeType.DISABLE.id);
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}
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navigateNode.setNodeType(nodeType);
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navigateNode.setNodeValue(map.getString("value"));
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navigateNodeRow.add(navigateNode);
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}
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navigateNodeList.add(navigateNodeRow);
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}
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return navigateNodeList;
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}
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public NavigateNode astarSearchJava(List<List<NavigateNode>> map, NavigateNode start, NavigateNode end) {
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// 清理上次搜索的状态，防止复用实例导致记录残留
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this.Open.clear();
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this.Close.clear();
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this.bestGMap.clear();
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//把第一个开始的结点加入到Open表中
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this.Open.add(start);
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//主循环
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while (Open.size() > 0) {
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//取优先队列顶部元素并且把这个元素从Open表中删除
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NavigateNode current_node = Open.poll();
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if (current_node.getX() == end.getX() && current_node.getY() == end.getY()) {//找到目标结点就返回
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return current_node;
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}
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//将这个结点加入到Close表中
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Close.add(current_node);
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//对当前结点进行扩展，得到一个四周结点的数组
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ArrayList<NavigateNode> neighbour_node = extend_current_node(map, current_node);
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//对这个结点遍历，看是否有目标结点出现
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for (NavigateNode node : neighbour_node) {
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// 已在关闭列表中的节点不再处理，避免父链反复改写形成环
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if (Close.contains(node)) {
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continue;
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}
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// G + H + E (对启发函数增加去拐点方案calcNodeExtraCost)
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int gCost = calcNodeExtraCost(current_node, node, end);
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//进行计算对G, F, H 等值
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node.setG(1 + gCost);
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node.init_node(current_node, end);
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node.setH(calcNodeCost(node, end));
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node.setF(node.getG() + node.getH());
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String key = node.getX() + "_" + node.getY();
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Integer recordedG = bestGMap.get(key);
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// 仅当找到更小的代价时才更新与入Open，避免等价代价反复入队导致父链抖动
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if (recordedG == null || node.getG() < recordedG) {
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bestGMap.put(key, node.getG());
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Open.add(node);
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}
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}
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}
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//如果遍历完所有出现的结点都没有找到最终的结点，返回null
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return null;
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}
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public List<List<NavigateNode>> allSimplePaths(
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List<List<NavigateNode>> map,
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NavigateNode start,
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NavigateNode end,
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int maxDepth, // 最大步数(边数). 建议：50/100/200；<=0 表示不限制（不建议）
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int maxPaths, // 最大返回条数. 建议：100/500/2000；<=0 表示不限制（不建议）
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int maxCost // 最大总代价(含拐点惩罚). <=0 表示不限制
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) {
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return allSimplePaths(map, start, end, maxDepth, maxPaths, maxCost, Collections.emptyList());
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}
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public List<List<NavigateNode>> allSimplePaths(
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List<List<NavigateNode>> map,
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NavigateNode start,
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NavigateNode end,
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int maxDepth,
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int maxPaths,
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int maxCost,
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List<Integer> guideStationIds
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) {
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List<List<NavigateNode>> results = new ArrayList<>();
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if (map == null || map.isEmpty() || map.get(0).isEmpty()) return results;
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if (start == null || end == null) return results;
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if (start.getValue() == MapNodeType.DISABLE.id || end.getValue() == MapNodeType.DISABLE.id) return results;
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// visited 用坐标 key，避免 NavigateNode equals/hashCode 不可靠导致重复判断失效
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Set<String> visited = new HashSet<>(map.size() * map.get(0).size() * 2);
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LinkedList<NavigateNode> path = new LinkedList<>();
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String startKey = keyOf(start);
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visited.add(startKey);
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path.add(start);
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AtomicInteger pathCount = new AtomicInteger(0);
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Map<Integer, NavigateNode> guideNodeMap = buildGuideNodeMap(map, guideStationIds);
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dfsAllSimplePaths(map, start, end,
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visited, path, results,
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0, // depth
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0, // cost
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maxDepth, maxPaths, maxCost,
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pathCount,
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guideStationIds,
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guideNodeMap
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);
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return results;
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}
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/**
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* DFS + 回溯：枚举所有简单路径（路径中不允许重复节点）
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*/
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private void dfsAllSimplePaths(
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List<List<NavigateNode>> map,
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NavigateNode current,
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NavigateNode end,
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Set<String> visited,
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LinkedList<NavigateNode> path,
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List<List<NavigateNode>> results,
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int depth, // 当前步数（边数）
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int cost, // 当前总代价（你可以认为是 g）
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int maxDepth,
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int maxPaths,
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int maxCost,
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AtomicInteger pathCount,
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List<Integer> guideStationIds,
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Map<Integer, NavigateNode> guideNodeMap
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) {
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// 防爆：条数限制
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if (maxPaths > 0 && pathCount.get() >= maxPaths) return;
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// 到达终点：收集路径
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if (current.getX() == end.getX() && current.getY() == end.getY()) {
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results.add(new ArrayList<>(path));
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pathCount.incrementAndGet();
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return;
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}
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// 防爆：深度限制（depth 表示已走的边数）
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if (maxDepth > 0 && depth >= maxDepth) return;
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// 扩展邻居（严格复用你自己的可行走方向规则）
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ArrayList<NavigateNode> neighbors = extend_current_node(map, current);
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if (neighbors == null || neighbors.isEmpty()) return;
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neighbors = sortNeighborsByGuide(current, path, neighbors, guideStationIds, guideNodeMap);
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for (NavigateNode next : neighbors) {
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// 防爆：条数限制
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if (maxPaths > 0 && pathCount.get() >= maxPaths) return;
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if (next == null) continue;
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if (next.getValue() == MapNodeType.DISABLE.id) continue;
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String nk = keyOf(next);
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// 简单路径：不允许重复节点
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if (visited.contains(nk)) continue;
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// 你的代价规则：每步 1 + 拐点惩罚
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int stepCost = 1 + calcNodeExtraCost(current, next, end);
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int newCost = cost + stepCost;
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// 防爆：总代价限制
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if (maxCost > 0 && newCost > maxCost) continue;
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// 进入
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visited.add(nk);
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path.addLast(next);
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dfsAllSimplePaths(map, next, end,
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visited, path, results,
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depth + 1,
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newCost,
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maxDepth, maxPaths, maxCost,
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pathCount,
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guideStationIds,
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guideNodeMap
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);
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// 回溯
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path.removeLast();
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visited.remove(nk);
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}
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}
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private String keyOf(NavigateNode n) {
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return n.getX() + "_" + n.getY();
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}
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private Map<Integer, NavigateNode> buildGuideNodeMap(List<List<NavigateNode>> map, List<Integer> guideStationIds) {
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Map<Integer, NavigateNode> guideNodeMap = new HashMap<>();
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if (map == null || map.isEmpty() || guideStationIds == null || guideStationIds.isEmpty()) {
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return guideNodeMap;
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}
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for (Integer stationId : guideStationIds) {
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if (stationId == null || guideNodeMap.containsKey(stationId)) {
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continue;
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}
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NavigateNode stationNode = findStationNavigateNode(map, stationId);
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if (stationNode != null) {
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guideNodeMap.put(stationId, stationNode);
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}
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}
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return guideNodeMap;
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}
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private ArrayList<NavigateNode> sortNeighborsByGuide(NavigateNode current,
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LinkedList<NavigateNode> path,
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ArrayList<NavigateNode> neighbors,
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List<Integer> guideStationIds,
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Map<Integer, NavigateNode> guideNodeMap) {
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if (current == null || neighbors == null || neighbors.size() <= 1
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|| guideStationIds == null || guideStationIds.isEmpty()
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|| guideNodeMap == null || guideNodeMap.isEmpty()) {
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return neighbors;
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}
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Integer nextGuideStationId = resolveNextGuideStationId(path, guideStationIds);
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if (nextGuideStationId == null) {
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return neighbors;
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}
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NavigateNode guideTargetNode = guideNodeMap.get(nextGuideStationId);
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if (guideTargetNode == null) {
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return neighbors;
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}
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neighbors.sort((left, right) -> compareGuideNeighbor(current, left, right, nextGuideStationId, guideTargetNode));
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return neighbors;
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}
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private Integer resolveNextGuideStationId(LinkedList<NavigateNode> path, List<Integer> guideStationIds) {
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if (path == null || path.isEmpty() || guideStationIds == null || guideStationIds.isEmpty()) {
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return null;
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}
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int cursor = 0;
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Set<Integer> seen = new HashSet<>();
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for (NavigateNode node : path) {
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Integer stationId = extractStationId(node);
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if (stationId == null || !seen.add(stationId)) {
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continue;
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}
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if (cursor < guideStationIds.size() && stationId.equals(guideStationIds.get(cursor))) {
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cursor++;
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}
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}
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if (cursor >= guideStationIds.size()) {
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return null;
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}
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return guideStationIds.get(cursor);
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}
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private int compareGuideNeighbor(NavigateNode current,
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NavigateNode left,
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NavigateNode right,
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Integer nextGuideStationId,
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NavigateNode guideTargetNode) {
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int leftDirect = isGuideStation(left, nextGuideStationId) ? 0 : 1;
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int rightDirect = isGuideStation(right, nextGuideStationId) ? 0 : 1;
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if (leftDirect != rightDirect) {
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return Integer.compare(leftDirect, rightDirect);
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}
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int leftDistance = calcNodeCost(left, guideTargetNode);
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int rightDistance = calcNodeCost(right, guideTargetNode);
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if (leftDistance != rightDistance) {
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return Integer.compare(leftDistance, rightDistance);
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}
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int leftTurnCost = calcNodeExtraCost(current, left, guideTargetNode);
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int rightTurnCost = calcNodeExtraCost(current, right, guideTargetNode);
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if (leftTurnCost != rightTurnCost) {
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return Integer.compare(leftTurnCost, rightTurnCost);
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}
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return 0;
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}
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private boolean isGuideStation(NavigateNode node, Integer stationId) {
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Integer nodeStationId = extractStationId(node);
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return nodeStationId != null && nodeStationId.equals(stationId);
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}
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private Integer extractStationId(NavigateNode node) {
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if (node == null || !"devp".equals(node.getNodeType())) {
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return null;
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}
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try {
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JSONObject valueObj = JSON.parseObject(node.getNodeValue());
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return valueObj == null ? null : valueObj.getInteger("stationId");
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} catch (Exception ignore) {
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return null;
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}
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}
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public ArrayList<NavigateNode> extend_current_node(List<List<NavigateNode>> map, NavigateNode current_node) {
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//获取当前结点的x, y
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int x = current_node.getX();
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int y = current_node.getY();
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//如果当前结点的邻结点合法，就加入到neighbour_node
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ArrayList<NavigateNode> neighbour_node = new ArrayList<NavigateNode>();
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if(current_node.getValue() == MapNodeType.DISABLE.id) {
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return neighbour_node;
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}
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List<String> directionList = current_node.getDirectionList();
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if(directionList == null || directionList.size() == 0) {
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return neighbour_node;
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}
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for(String direction : directionList) {
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if(direction.equals("top")) {
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NavigateNode node = getValidNavigateNode(map, current_node, x - 1, y, direction);
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if(node != null) {
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neighbour_node.add(node);
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}
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}else if(direction.equals("bottom")) {
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NavigateNode node = getValidNavigateNode(map, current_node, x + 1, y, direction);
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if(node != null) {
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neighbour_node.add(node);
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}
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}else if(direction.equals("left")) {
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NavigateNode node = getValidNavigateNode(map, current_node, x, y - 1, direction);
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if(node != null) {
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neighbour_node.add(node);
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}
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}else if(direction.equals("right")) {
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NavigateNode node = getValidNavigateNode(map, current_node, x, y + 1, direction);
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if(node != null) {
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neighbour_node.add(node);
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}
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}
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}
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return neighbour_node;
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}
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/**
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* 邻接点校验：可达 + 方向一致（当前节点与下一节点对本次行走方向一致）
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*/
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public NavigateNode getValidNavigateNode(List<List<NavigateNode>> map, NavigateNode currentNode, int x, int y, String moveDirection) {
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NavigateNode node = getValidNavigateNode(map, x, y);
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if (node == null) {
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return null;
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}
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if (!isDirectionConsistent(currentNode, node, moveDirection)) {
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return null;
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}
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return node;
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}
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public NavigateNode getValidNavigateNode(List<List<NavigateNode>> map, int x, int y) {
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if (x < 0 || x >= map.size()
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|| y < 0 || y >= map.get(0).size()) {
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return null;
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}
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NavigateNode node = map.get(x).get(y);
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if(node.getValue() == MapNodeType.DISABLE.id) {
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return null;
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}
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return node;
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}
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private boolean isDirectionConsistent(NavigateNode currentNode, NavigateNode nextNode, String moveDirection) {
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if (currentNode == null || nextNode == null) {
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return false;
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}
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if (moveDirection == null) {
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return false;
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}
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List<String> currentDirectionList = currentNode.getDirectionList();
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List<String> nextDirectionList = nextNode.getDirectionList();
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if (currentDirectionList == null || nextDirectionList == null) {
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return false;
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}
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// 当前节点允许向 moveDirection 出发，且下一节点在该方向上保持一致，才允许通行
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return currentDirectionList.contains(moveDirection) && nextDirectionList.contains(moveDirection);
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}
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public NavigateNode findStationNavigateNode(List<List<NavigateNode>> map, int stationId) {
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for(int x = 0; x < map.size(); x++) {
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for(int y = 0; y < map.get(0).size(); y++) {
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NavigateNode node = map.get(x).get(y);
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if("devp".equals(node.getNodeType())) {
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JSONObject valueObj = JSON.parseObject(node.getNodeValue());
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if(valueObj.getInteger("stationId") == stationId) {
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return node;
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}
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}
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}
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}
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return null;
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}
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public NavigateNode findTrackSiteNoNavigateNode(List<List<NavigateNode>> map, int trackSiteNo) {
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for(int x = 0; x < map.size(); x++) {
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for(int y = 0; y < map.get(0).size(); y++) {
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NavigateNode node = map.get(x).get(y);
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if("rgv".equals(node.getNodeType())) {
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JSONObject valueObj = JSON.parseObject(node.getNodeValue());
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if(valueObj.getInteger("trackSiteNo") == trackSiteNo) {
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return node;
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}
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}
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}
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}
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return null;
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}
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//------------------A*启发函数------------------//
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//计算通过现在的结点的位置和最终结点的位置计算H值(曼哈顿法：坐标分别取差值相加)
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private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
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return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
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}
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//去除拐点算法，给直线增加优先级
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private int calcNodeExtraCost(NavigateNode currNode, NavigateNode nextNode, NavigateNode endNode) {
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// 第一个点或直线点
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if (currNode.getFather() == null || nextNode.getX() == currNode.getFather().getX()
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|| nextNode.getY() == currNode.getFather().getY()) {
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return 0;
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}
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// 拐向终点的点
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if (nextNode.getX() == endNode.getX() || nextNode.getY() == endNode.getY()) {
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return 1;
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}
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// 普通拐点
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/*
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拐点判断逻辑
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拿到父节点和下一节点
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通过判断父节点和下一节点的x数据和y数据都不相同时，则表明当前坐标是一个拐点
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*/
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return 1;
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}
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//------------------A*启发函数-end------------------//
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}
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