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luxiaotao1123

2024-11-04 875ad91b195c581c249aa3bc922aebb6210b5a24

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

@@ -176,13 +176,11 @@
                List<RetreatNavigateNode> enableNodes = new ArrayList<>();

                ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes);
                boolean pointOfTurn = false;
                if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
                    pointOfTurn = true;
                }

                // 第一步：获取有效转弯点
                if (null == availablePointOfTurn) {
                // 计算是否为可用转弯点
                if (pointOfTurn) {
                    if (neighborNodes.size() >= 2 && !isSame(start, currentNode)) {
                    for (RetreatNavigateNode node : neighborNodes) {
                        // lane
                        Lane lane = laneService.search(node.getCodeData());
@@ -212,15 +210,16 @@
                        actuallyLanesOfTurn ++;
                    }

                        // 有两条以上可走巷道，则视为有效转弯点
                    if (actuallyLanesOfTurn >= 2) {
                        availablePointOfTurn = currentNode;
                        availablePointWaveScopeOfTurn = mapService.getWaveScopeByCode(lev, availablePointOfTurn.getCodeData(), avoidDistance)
                                .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                    }

                    }
                }


                // 延伸转弯点巷道
                label: for (RetreatNavigateNode node : neighborNodes) {
                    int weight = 0;

@@ -260,10 +259,12 @@
                    existNodes.add(node);
                }


                if (actuallyLanesOfTurn < 2) {
                    availablePointOfTurn = null;
                    availablePointWaveScopeOfTurn = new ArrayList<>();
                    actuallyLanesOfTurn = 0;
                } else {
                if (!Cools.isEmpty(enableNodes)) {

                    if (actuallyLanesOfTurn >= 2) {
                        Collections.sort(enableNodes);
                        finialNode = enableNodes.stream().findFirst().orElse(null);
                        jam.setCycleAvo(1);