#

Junjie

4 天以前 5d1aa071ca6f385a8ec9bb2b5135d259f0f225eb

 src/main/java/com/zy/common/utils/NavigateSolution.java

@@ -23,9 +23,9 @@
    //用来存放已经出现过的结点。
    Map<String, Integer> bestGMap = new HashMap<>();

    public List<List<NavigateNode>> getStationMap() {
    public List<List<NavigateNode>> getStationMap(int lev) {
        BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
        BasMap basMap = basMapService.selectOne(new EntityWrapper<BasMap>().eq("lev", 1));
        BasMap basMap = basMapService.selectOne(new EntityWrapper<BasMap>().eq("lev", lev));
        if (basMap == null) {
            throw new CoolException("地图不存在");
        }
@@ -48,6 +48,51 @@

                    JSONObject valueObj = JSON.parseObject(map.getString("value"));
                    List<String> directionList = valueObj.getJSONArray("direction").toJavaList(String.class);
                    navigateNode.setDirectionList(directionList);
                }else {
                    navigateNode.setValue(MapNodeType.DISABLE.id);
                }

                navigateNode.setNodeType(nodeType);
                navigateNode.setNodeValue(map.getString("value"));
                navigateNodeRow.add(navigateNode);
            }
            navigateNodeList.add(navigateNodeRow);
        }

        return navigateNodeList;
    }

    public List<List<NavigateNode>> getRgvTrackMap(int lev) {
        BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
        BasMap basMap = basMapService.selectOne(new EntityWrapper<BasMap>().eq("lev", lev));
        if (basMap == null) {
            throw new CoolException("地图不存在");
        }

        List<List<JSONObject>> dataList = JSON.parseObject(basMap.getData(), List.class);

        List<List<NavigateNode>> navigateNodeList = new ArrayList<>();
        for (int i = 0; i < dataList.size(); i++) {
            List<JSONObject> row = dataList.get(i);
            List<NavigateNode> navigateNodeRow = new ArrayList<>();
            for (int j = 0; j < row.size(); j++) {
                JSONObject map = row.get(j);
                NavigateNode navigateNode = new NavigateNode(i, j);

                String nodeType = map.getString("type");
                if(nodeType == null) {
                    navigateNode.setValue(MapNodeType.DISABLE.id);
                }else if(nodeType.equals("rgv")){
                    navigateNode.setValue(MapNodeType.NORMAL_PATH.id);
                    JSONObject valueObj = JSON.parseObject(map.getString("value"));

                    //RGV暂不控制行走方向，默认上下左右都可走
                    List<String> directionList = new ArrayList<>();
                    directionList.add("top");
                    directionList.add("bottom");
                    directionList.add("left");
                    directionList.add("right");
                    navigateNode.setDirectionList(directionList);
                }else {
                    navigateNode.setValue(MapNodeType.DISABLE.id);
@@ -184,6 +229,21 @@
        return null;
    }

    public NavigateNode findTrackSiteNoNavigateNode(List<List<NavigateNode>> map, int trackSiteNo) {
        for(int x = 0; x < map.size(); x++) {
            for(int y = 0; y < map.get(0).size(); y++) {
                NavigateNode node = map.get(x).get(y);
                if("rgv".equals(node.getNodeType())) {
                    JSONObject valueObj = JSON.parseObject(node.getNodeValue());
                    if(valueObj.getInteger("trackSiteNo") == trackSiteNo) {
                        return node;
                    }
                }
            }
        }
        return null;
    }

    //------------------A*启发函数------------------//

    //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)