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luxiaotao1123

2024-12-31 592c2747205b78ef0b2f03a4accc2805d89dbdae

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 zy-acs-manager/pom.xml

@@ -145,6 +145,10 @@
            <artifactId>easyexcel</artifactId>
            <version>2.2.6</version>
        </dependency>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-actuator</artifactId>
        </dependency>

        <!-- nd4j -->
<!--        <dependency>-->

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java

@@ -57,30 +57,19 @@
        NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
        NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());

        long startTime = System.currentTimeMillis();
        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
//        System.out.println("AStart spend time: " + (System.currentTimeMillis() - startTime));

        if (null == finishNode) {
            return new ArrayList<>();
        }

        ArrayList<NavigateNode> navigateNodes = new ArrayList<>();

        // 渲染
        NavigateNode parentNode = null; //  当前循环上一节点，用于拐点计算
        while (finishNode != null) {
            navigateNodes.add(finishNode);

            parentNode = finishNode;
            finishNode = finishNode.getParent();
        }

        Collections.reverse(navigateNodes);

//        for (NavigateNode navigateNode : navigateNodes) {
//            navigateNode.setParent(null);
//        }

        List<String> navigatePath = navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());