#

Junjie

3 天以前 6cf4a3e2ba925e75b60f13bb8ebc5e92d37809b2

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

@@ -2,7 +2,8 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.core.common.SpringUtils;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SnowflakeIdWorker;
import com.core.exception.CoolException;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
@@ -11,6 +12,8 @@
import com.zy.core.News;
import com.zy.core.enums.MapNodeType;
import com.zy.core.model.PythonSimilarityResult;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
@@ -31,6 +34,10 @@
    private String pythonCalcSimilarity;
    @Autowired
    private NavigateMapData navigateMapData;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private ConfigService configService;

    public List<NavigateNode> calc(String startPoint, String endPoint, List<NavigationMapType> mapTypes, List<int[]> shuttlePoints, List<int[]> whites) {
        return calcJava(startPoint, endPoint, mapTypes, shuttlePoints, whites);
@@ -288,10 +295,13 @@
     * 获取分段路径，每当有一个拐点则进行一次分段，最终返回总分段数据
     */
    public List<List<NavigateNode>> getSectionPath(List<NavigateNode> mapList) {
        List<List<NavigateNode>> list = new ArrayList<>();
        NavigateNode firstNode = mapList.get(0);
        //获取地图
        List<List<MapNode>> mapNodes = navigateMapData.getJsonData(firstNode.getZ(), NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);

        List<List<NavigateNode>> list = new ArrayList<>();
        List<NavigateNode> data = new ArrayList<>();
        String direction = mapList.get(0).getDirection();//行走方向
        String direction = firstNode.getDirection();//行走方向

        for (NavigateNode navigateNode : mapList) {
            data.add(navigateNode);
@@ -306,22 +316,30 @@
                //直行线路
                navigateNode.setDirection(direction);//设置行走方向
            }
            Integer distance = getXToNextDistance(navigateNode);//获取当前点到下一点的行走距离
            Integer distance = getXToNextDistance(mapNodes, navigateNode);//获取当前点到下一点的行走距离
            navigateNode.setMoveDistance(distance);
        }

        //将最后一段数据添加进入
        list.add(data);

        //分段路径-处理超长直线段路径
        List<List<NavigateNode>> paths = getSectionPathToSplitOverLength(list);
        return paths;
    }

    //分段路径-处理超长直线段路径
    public List<List<NavigateNode>> getSectionPathToSplitOverLength(List<List<NavigateNode>> list) {
        int overLength = 9;//默认9节
        Config shuttleMoveOverLengthConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleMoveOverLength"));
        if (shuttleMoveOverLengthConfig != null) {
            overLength = Integer.parseInt(shuttleMoveOverLengthConfig.getValue());
        }

        List<List<NavigateNode>> paths = new ArrayList<>();
        int overLength = 9;
        for (List<NavigateNode> nodes : list) {
            long nextId = snowflakeIdWorker.nextId();

            if (nodes.size() > overLength) {
                List<NavigateNode> copy = JSON.parseArray(JSON.toJSONString(nodes), NavigateNode.class);
                List<NavigateNode> tmp = new ArrayList<>();
@@ -335,10 +353,12 @@
                        if (lastNode == null) {
                            NavigateNode startNode = tmp.get(0);
                            startNode.setLinePartAllowGo(true);//直线段超长部分允许直接行走
                            startNode.setLinePartFlag(nextId);//直线段数据标识
                            tmp.set(0, startNode);
                        }
                        NavigateNode targetNode = tmp.get(tmp.size() - 1);
                        targetNode.setLinePartAllowGo(true);//直线段超长部分允许直接行走
                        targetNode.setLinePartFlag(nextId);//直线段数据标识
                        if (lastNode != null) {
                            tmp.add(0, lastNode);
                        }
@@ -355,6 +375,10 @@
                    paths.add(tmp);
                }
            }else {
                NavigateNode startNode = nodes.get(0);
                startNode.setLinePartAllowGo(true);//直线段超长部分允许直接行走
                startNode.setLinePartFlag(nextId);//直线段数据标识
                nodes.set(0, startNode);
                paths.add(nodes);
            }
        }
@@ -362,25 +386,28 @@
    }

    //获取从x点到下一点的行走距离
    public Integer getXToNextDistance(NavigateNode xNode) {
        NavigateMapData mapData = SpringUtils.getBean(NavigateMapData.class);
        List<List<MapNode>> lists = mapData.getJsonData(xNode.getZ(), NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
        if (lists != null) {
            MapNode mapNode = lists.get(xNode.getX()).get(xNode.getY());
            if (mapNode != null) {
                switch (xNode.getDirection()) {
                    case "top":
                        return mapNode.getTop();
                    case "bottom":
                        return mapNode.getBottom();
                    case "left":
                        return mapNode.getLeft();
                    case "right":
                        return mapNode.getRight();
                }
            }
    public Integer getXToNextDistance(List<List<MapNode>> mapLists, NavigateNode xNode) {
        if (mapLists == null) {
            return 0;
        }

        if (mapLists.isEmpty()) {
            return 0;
        }

        MapNode mapNode = mapLists.get(xNode.getX()).get(xNode.getY());
        if (mapNode != null) {
            switch (xNode.getDirection()) {
                case "top":
                    return mapNode.getTop();
                case "bottom":
                    return mapNode.getBottom();
                case "left":
                    return mapNode.getLeft();
                case "right":
                    return mapNode.getRight();
            }
        }
        return 0;
    }