#

Junjie

2024-10-16 0f5a5a759221bde50ace126eae797326837f5f72

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapData.java

@@ -280,63 +280,55 @@
            lists.add(list);
        }

        //获取严格模式参数
        boolean mapStrict = true;//默认严格模式
        Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
        if (dict != null) {
            mapStrict = Boolean.parseBoolean(dict.getValue());
        }
        //过滤数据
        //获取当前楼层库位数据
        List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
                .eq(Loc::getLev, lev)
                .eq(Loc::getStatus, 1)
                .orderByAsc(Loc::getRow, Loc::getBay));
        for (Loc loc : locs) {
            Integer row = loc.getRow();
            Integer bay = loc.getBay();

        if (mapStrict) {//严格模式下，载入库位状态
            //过滤数据
            //获取当前楼层库位数据
            List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLev, lev)
                    .orderByAsc(Loc::getRow, Loc::getBay));
            for (Loc loc : locs) {
                Integer row = loc.getRow();
                Integer bay = loc.getBay();

                boolean whiteFlag = false;//默认不存在白名单
                if (whitePoints != null) {
                    for (int[] whitePoint : whitePoints) {
                        if (whitePoint[0] == row && whitePoint[1] == bay) {
                            //存在白名单
                            whiteFlag = true;
                            break;
                        }
            boolean whiteFlag = false;//默认不存在白名单
            if (whitePoints != null) {
                for (int[] whitePoint : whitePoints) {
                    if (whitePoint[0] == row && whitePoint[1] == bay) {
                        //存在白名单
                        whiteFlag = true;
                        break;
                    }
                }
                if (whiteFlag) {
                    continue;//存在白名单，不执行下列过滤方案
                }


                List<MapNode> list = lists.get(row);
                MapNode mapNode = list.get(bay);

                if (mapType == NavigationMapType.NONE.id) {
                    //不过滤任何数据
                } else if (mapType == NavigationMapType.DFX.id) {
                    //车辆有货
                    //读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
                    if (loc.getLocSts$().equals("F")
                            || loc.getLocSts$().equals("D")
                            || loc.getLocSts$().equals("X")
                    ) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                } else if (mapType == NavigationMapType.NORMAL.id) {
                    //过滤库位状态X
                    if (loc.getLocSts$().equals("X")) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                }

                //更新list
                list.set(bay, mapNode);
                lists.set(row, list);
            }
            if (whiteFlag) {
                continue;//存在白名单，不执行下列过滤方案
            }


            List<MapNode> list = lists.get(row);
            MapNode mapNode = list.get(bay);

            if (mapType == NavigationMapType.NONE.id) {
                //不过滤任何数据
            } else if (mapType == NavigationMapType.DFX.id) {
                //车辆有货
                //读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
                if (loc.getLocStsFlag().equals("F")
                        || loc.getLocStsFlag().equals("D")
                        || loc.getLocStsFlag().equals("X")
                ) {
                    mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                }
            } else if (mapType == NavigationMapType.NORMAL.id) {
                //过滤库位状态X
                if (loc.getLocStsFlag().equals("X")) {
                    mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                }
            }

            //更新list
            list.set(bay, mapNode);
            lists.set(row, list);
        }

        //加载车辆坐标到地图中